Totally-closed transfer ground rail for robot

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of transfer track technology, and in particular to a fully enclosed transfer track for robots. Background Technology

[0002] In the realm of industrial automation, the floor rail system, as a critical infrastructure for robots and various mobile platforms, directly determines the smoothness of the production process and the lifespan of the equipment through its design and functionality. The floor rail system not only provides robots with a stable movement path, ensuring precise operation within a defined range, but also serves as the core channel for complex cable layouts, where the role of cable chains is paramount. Cable chains, as a type of cable tray that moves synchronously with the mobile device, are responsible for the effective management and protection of various cables, including power lines, control lines, and data transmission lines, as the robot moves along the floor rail. Their presence protects cables from mechanical stresses such as tension and torsion during equipment movement, thus ensuring the stability of signal transmission and the continuity of power supply. Without a proper layout and protection of cable chains, cables will wear down rapidly due to frequent pulling and friction during robot movement, leading to signal transmission interruptions, frequent equipment failures, or even serious safety accidents, causing incalculable losses to industrial production.

[0003] Patent CN215488609U discloses a closed-type anti-trampling mobile platform track, whose structure includes key components such as a frame, guide rail, slider, moving plate, cable chain groove plate, and cable chain. Although the design considers the protection of the cable chain and uses protective sheet metal within the cable chain groove plate to resist external pressure, aiming to protect the cable chain from accidental damage such as being stepped on to some extent, this protective measure has significant limitations.

[0004] Patent CN213796476U discloses an ultra-long enclosed ground track, which adopts a segmented connection design and is equipped with advanced components such as sealing plates, sliders, displacement sensors, moving slide mechanisms, and servo motors. This design excels in extending the length of the ground track and expanding the robot's movement range. The enclosed design also improves the track's sealing performance to a certain extent, making it suitable for dusty working environments. However, a closer analysis of its structure reveals that the protection of the cable chain still has potential vulnerabilities.

[0005] Patent CN221953314U discloses a fully enclosed robot rail slider fixing connection structure. Its highlight lies in the ingenious combination of the robot rail body, moving worktable, connecting plate, L-shaped splicing plate, and slider. This design effectively reduces the risk of equipment deformation by dispersing the gravity of the moving worktable on the rail body, while also reserving space for the installation and replacement of lubrication copper pipes, demonstrating the design's human-centered and practical nature. However, its protection of cable chains still needs improvement. Cable chains and other components remain located in the side space, lacking enclosed isolation protection.

[0006] In summary, although existing cable track technologies each have their own unique structural designs aimed at solving application problems in different scenarios, they all share a common deficiency in the crucial aspect of cable chain protection. Specifically, the cable chains and other cables are located in open side spaces rather than enclosed areas. This layout exposes numerous drawbacks in practical applications. In harsh industrial environments, foreign object intrusion is commonplace. For example, in machining workshops, metal shavings, coolant, and other foreign objects can easily enter the cable chain's operating area through side gaps; in logistics and warehousing facilities, debris from falling goods can also damage the cable chains. These foreign objects can cause cable chain jamming, accelerated wear, and even breakage of internal cables, directly leading to equipment failure and production interruptions. Furthermore, frequent maintenance and repairs not only increase manpower and material costs but may also lead to more serious equipment damage and production delays due to untimely maintenance. Utility Model Content

[0007] The purpose of this invention is to provide a fully enclosed robotic transfer track, which aims to solve the problems of susceptibility to external interference, poor safety, and insufficient stability in existing transfer technologies, thereby improving the operational reliability and safety of transfer equipment to meet the diverse needs of modern industrial production.

[0008] The technical solution adopted by this utility model to solve the above-mentioned technical problems is: a fully enclosed robot transfer track, which includes an enclosed track assembly and a slide that carries the robot;

[0009] The enclosed ground rail assembly has slide rails on both sides, and the slide table includes a support platform, a first sliding frame and a second sliding frame respectively disposed on both sides of the support platform; the first sliding frame and the second sliding frame move along the slide rails;

[0010] The enclosed ground rail assembly has a strip-shaped notch on one side of its width; the ground rail body assembly has a drag chain system connected to the robot's power supply in the ground rail interior area;

[0011] The bottom of the carrying platform is equipped with a drive mechanism and a cable tray. The cable tray is located on the side of the carrying platform near the strip-shaped notch and extends through the strip-shaped notch into the interior area of ​​the ground rail. The cable of the drag chain system passes through the cable tray and is electrically connected to the robot.

[0012] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the enclosed ground rail assembly includes a ground rail body, an L-shaped support beam, a U-shaped sealing body, and an L-shaped pedal;

[0013] The ground rail body includes a first wall and a second wall that are parallel to each other. A first slide rail is provided on the outer top of the first wall, and a second slide rail is provided on the outer top of the second wall. Each support beam is arranged parallel and spaced apart on the ground rail body. The vertical arm of each support beam is fixed to the inner side of the second wall, and the horizontal arm extends horizontally from the top of the vertical arm toward the first wall.

[0014] The edge banding is fastened to the top of the first wall to cover the first slide rail, and a first gap is formed between its outer groove wall and the first slide rail; the horizontal plate of the pedal is laid on the transverse arm of each support beam and extends to the top of the edge banding, and the strip-shaped notch is formed between the horizontal plate and the top wall of the edge banding; the vertical plate of the pedal bends downward from the outer edge of the horizontal plate and extends to the outer side of the second wall, and a second gap is formed between the vertical plate and the second slide rail;

[0015] Each sliding frame has a sliding arm that extends downward and then bends inward at its bottom. The sliding arm passes through the first gap and the second gap respectively and forms a sliding fit with the corresponding slide rail.

[0016] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a drive motor is provided below the bearing platform, the output end of the drive motor extends toward the first wall, and a transmission gear is provided at the output end of the motor;

[0017] The inner side of the first wall is provided with a rack extending along the length of the ground rail, and the gear and rack cooperate to move the slide on the enclosed ground rail assembly.

[0018] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the cable bracket includes a horizontal part and an inclined part, the horizontal part passes horizontally from the outside of the enclosed ground rail assembly through the strip-shaped notch, and the inclined part is inclined downward towards the inner area of ​​the ground rail.

[0019] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: multiple triangular support feet are provided on the outer sides of the first wall and the second wall. Each triangular support foot includes a bottom wall and two opposing triangular walls. An adjustment component for adjusting the installation height is provided on the bottom wall.

[0020] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: a motor mounting frame is provided below the bearing platform, and the drive motor is installed below the motor mounting frame;

[0021] The motor mounting bracket extends inward from the side of the support platform near the first wall and is separated from the bottom of the support platform by a gap; when the slide moves, the support platform is located above the pedal, and the motor mounting bracket and drive motor are located below the pedal.

[0022] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the output end of the drive motor is provided with a reducer with a circular cross-section, a reducer mounting plate is provided below the bearing platform, the reducer mounting plate is provided with an elliptical hole with the major axis in the vertical direction, and the reducer is located in the elliptical hole.

[0023] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the horizontal arm of the support beam is provided with an inclined surface below the end near the first wall, and the inclined surface is inclined in the direction of the first wall.

[0024] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the ground rail body includes multiple connecting beams connecting the first wall and the second wall; a triangular reinforcement is provided at the corner of the connecting beam and the first wall or the second wall.

[0025] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problem is as follows: the inclined inner surface of the triangular reinforcement includes a first slope segment and a second slope segment from top to bottom, and the slope of the first slope segment is less than that of the second slope segment.

[0026] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the interior of the triangular reinforcing body is provided with a square cable conduit, and the apex of the square cable conduit is close to the junction of the first slope segment and the second slope segment.

[0027] Compared with existing technologies, the advantages of this invention are: the enclosed ground rail assembly conceals the cable chain system within its internal area, effectively preventing foreign objects such as dust, oil, and metal shavings from the industrial environment from entering the cable chain system, thus reducing the probability of equipment failure. The cable tray ensures that the cables are always protected as the slide moves, avoiding damage from friction with external objects. The cables are neatly arranged within the tray, preventing tangling and pulling. Furthermore, the cables hidden within the ground rail area can move with the slide through the strip-shaped notches, ensuring the stability of power and signal transmission during robot movement, guaranteeing long-term stable operation of the equipment, and reducing equipment maintenance costs and downtime. Attached Figure Description

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the present invention. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may contain exaggerated depictions, and the drawings are not necessarily drawn to scale.

[0029] Figure 1 A three-dimensional structure of a fully enclosed transfer track for robots. Figure 1 ;

[0030] Figure 2 A three-dimensional structural diagram of a fully enclosed transfer track for a robot;

[0031] Figure 3 Decomposition of a fully enclosed transfer track for robots Figure 1 ;

[0032] Figure 4 For a partial fully enclosed transfer track for robots Figure 1 ;

[0033] Figure 5 Decomposition of a fully enclosed transfer track for robots Figure 2 ;

[0034] Figure 6 For a partial fully enclosed transfer track for robots Figure 2 ;

[0035] Figure 7 For a partial fully enclosed transfer track for robots Figure 3 ;

[0036] Figure 8 Decomposition of a fully enclosed transfer track for robots Figure 3 ;

[0037] Figure 9 For a partial fully enclosed transfer track for robots Figure 4 ;

[0038] Figure 10 Decomposition of a fully enclosed transfer track for robots Figure 4 ;

[0039] Figure 11 For a partial fully enclosed transfer track for robots Figure 5 ;

[0040] Figure 12 Decomposition of a fully enclosed transfer track for robots Figure 5 . Detailed Implementation

[0041] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0042] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it will not be further defined and explained in subsequent figures.

[0043] In the description of this utility model, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the usual placement of the product during use. These may differ from the orientations in the accompanying drawings. They are used solely for the purpose of describing the utility model from the same reference and for simplification, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Similarly, "first" and "second" are used only for ease of understanding and have no other directional meaning; they should not be considered as limitations on this utility model.

[0044] like Figure 1 As shown, this utility model provides a fully enclosed robot transfer rail, including an enclosed rail assembly 100 and a slide 200 that carries the robot 400. This fully enclosed robot transfer rail system is used on automotive parts processing production lines for material handling and processing operations between different workstations. The rail length is customized according to the production line layout to ensure that the robot can cover all the work areas it needs to reach.

[0045] like Figure 1-3 As shown, the enclosed ground rail assembly 100 has slide rails on both sides. The slide table 200 includes a support platform 21 and a first sliding frame 22 and a second sliding frame 23 respectively disposed on both sides of the support platform 21. The first sliding frame 22 and the second sliding frame 23 move along the slide rails. A strip-shaped notch K is provided on one side of the width of the enclosed ground rail assembly 100. A cable chain system 300 connected to the robot's power supply is provided in the internal area of ​​the ground rail body 11 assembly. A drive mechanism and a cable tray 24 are provided at the bottom of the support platform 21. The cable tray 24 is located on the side of the support platform 21 near the strip-shaped notch and extends through the strip-shaped notch K into the internal area of ​​the ground rail. The cable of the cable chain system 300 passes through the cable tray 24 and is electrically connected to the robot.

[0046] like Figure 3As shown, the enclosed ground rail assembly 100 conceals the cable chain system 300 within its internal area, effectively preventing foreign objects such as dust, oil, and metal shavings from the industrial environment from entering the cable chain system 300, thus reducing the probability of equipment failure.

[0047] The cable chain system 300 is made of high-strength engineering plastic, possessing excellent flexibility and wear resistance. The cables within the cable chain system 300 pass through the cable tray 24 and are electrically connected to the robot. The cable tray 24 ensures the cables are always protected as the slide table 200 moves, preventing damage from friction with external objects. The cables are neatly arranged within the tray, preventing tangling and pulling. Through the strip-shaped notch K, the cables hidden within the ground rail area can move with the slide table 200, ensuring the stability of power and signal transmission during robot movement. This guarantees long-term stable operation of the equipment, reducing maintenance costs and downtime.

[0048] like Figure 3-5 As shown, the enclosed ground rail assembly 100 includes a ground rail body 11, an L-shaped support beam 12, a U-shaped sealing body 13, and an L-shaped pedal 14.

[0049] The ground track body 11 includes a first wall 1 and a second wall 2 that are parallel to each other. A first slide rail 3 is provided on the outer top of the first wall 1, and a second slide rail 4 is provided on the outer top of the second wall 2. Each support beam 12 is arranged parallel to and at intervals on the ground track body 11. The vertical arm 12a of each support beam 12 is fixed to the inner side of the second wall 2, and the horizontal arm 12b extends horizontally from the top of the vertical arm 12a toward the first wall 1.

[0050] The sealing body 13 is fastened to the top of the first wall 1 to cover the first slide rail 3, and a first gap with a downward opening is formed between its outer groove wall 13a and the first slide rail 3. The sealing body 13 closes the first side of the ground rail, protects the first slide rail 3, and prevents foreign objects from affecting the first slide rail 3, while the first gap provides installation space for the sliding frame and the slide rail to cooperate.

[0051] The horizontal plate 14a of the pedal 14 is laid on the transverse arms 12b of each support beam 12 and extends above the edge sealing body 13, forming a strip-shaped notch K between the horizontal plate 14a and the top wall of the edge sealing body 13. The vertical plate 14b of the pedal 14 bends downward from the outer edge of the horizontal plate 14a and extends to the outside of the second wall 2, forming a second gap with a lower opening between the vertical plate 14b and the second slide rail 4. The pedal 14 wraps around the second slide rail 4 on the other side, and the gap with the lower opening provides installation space for the sliding frame and the slide rail to mate.

[0052] With this configuration, the entire enclosed track assembly 100 is completely sealed except for the first and second gaps and the strip-shaped notch K. The first and second gaps are also sealed on all sides except for their lower openings, thus not affecting the track's dust and foreign object protection capabilities. The strip-shaped notch K is laterally open, but it is also shielded above, and its width is relatively small, which is negligible for a large track system.

[0053] Preferably, the pedal 14 is composed of multiple pedal 14 units, each pedal 14 unit spanning at least three support beams 12, thereby ensuring safe stepping on the ground track plane.

[0054] like Figure 4-7 As shown, in order to cooperate with the enclosed ground rail assembly 100, each sliding frame has a sliding arm 7 that extends downward and bends inward at its bottom. The sliding arm 7 passes through the openings of the first and second gaps from bottom to top and then passes through the first and second gaps respectively to form a sliding fit with the corresponding slide rail.

[0055] like Figure 4 , 6 As shown in Figures 9 and 12, a slider 8 is provided on the side of the sliding arm 7 facing the side wall of the ground rail body 11. The slider 8 is provided with a groove f, and the slide rail is embedded in the groove f. This achieves both sliding connection and hoisting, thereby connecting the slide table 200 and the ground rail body.

[0056] like Figure 1-2 As shown, each side of the slide table 200 is provided with three separate first sliding frames 22 or second sliding frames 23, thereby ensuring the stability of the entire slide table 200.

[0057] like Figure 2 As shown, the front end of the support platform 21 is equipped with a brush mounting strip q for mounting brushes. The brushes clean the ground rails while the slide moves.

[0058] like Figure 6 , 9 As shown, a drive motor 60 is located below the support platform 21. The output end of the drive motor 60 extends towards the first wall 1, and a transmission gear 5 is provided at the output end of the motor. The drive motor 60 is a high-performance servo motor, capable of providing precise speed and position control. The drive motor 60 is hidden below the pedal 14, which avoids the risk of external collisions and reduces operating noise.

[0059] like Figure 6As shown, a rack 9 extending along the length of the ground rail is provided on the inner side of the first wall 1. The gear and rack 9 cooperate to move the slide 200 on the enclosed ground rail assembly 100. The rack 9 is made of high-strength alloy steel and its surface is hardened, giving it good wear resistance. The transmission gear 5 and rack 9 cooperate to achieve high transmission accuracy, enabling the slide 200 to move smoothly and accurately on the enclosed ground rail assembly 100, meeting the precise transfer requirements of industrial robots.

[0060] A motor mounting bracket M is provided below the support platform 21, and the drive motor 60 is mounted below the motor mounting bracket M. The motor mounting bracket M extends inward from the side of the support platform 21 closest to the first wall 1, and is separated from the bottom of the support platform 21 by a gap. When the slide table 200 moves, the support platform 21 is located above the pedal 14, and the motor mounting bracket M and the drive motor 60 are located below the pedal 14. This means that the slide table 200 can move back and forth unimpeded on the closed ground rail filled with pedal 14.

[0061] like Figure 6 As shown, the output end of the drive motor 60 is equipped with a reducer 61 with a circular cross-section. A reducer mounting plate N is located below the support platform 21. The reducer mounting plate N has an elliptical hole t with its major axis in the vertical direction, and the reducer 61 is located within the elliptical hole. The elliptical hole design compensates for vertical installation errors, ensuring a constant meshing clearance between the gear and rack 9 and reducing wear.

[0062] like Figure 1 , 9 As shown, the cable tray 24 includes a horizontal portion 24a and an inclined portion 24b. The horizontal portion 24a extends horizontally from the outside of the enclosed ground rail assembly 100 through the strip-shaped notch K, while the inclined portion 24b slopes downwards towards the interior area of ​​the ground rail. The inclined portion 24b is designed to reduce cable bending stress, extend service life, and improve channel shielding performance. The cable tray 24 and the strip-shaped notch K form a sealed channel to prevent foreign objects from entering the interior of the ground rail.

[0063] like Figure 8 , 10 As shown, the horizontal arm 12b of the support beam 12 has an inclined surface h below the end near the first wall 1. The inclined surface h is inclined in the direction of the first wall 1, increasing the space to avoid the cable bracket 24.

[0064] like Figure 12As shown, the track body 11 includes multiple connecting beams 9 connecting the first wall 1 and the second wall 2. A triangular reinforcement G is provided at the corner where the connecting beam 9 meets the first wall 1 or the second wall 2. The inclined inner surface of the triangular reinforcement G includes a first slope segment Y1 and a second slope segment Y2 from top to bottom, with the slope of the first slope segment Y1 being less than that of the second slope segment Y2. This double-slope reinforcement reduces material usage while ensuring structural strength. Simultaneously, the triangular reinforcement provides a shielding area for complex wiring arrangements within the track's interior. Preferably, a square wiring conduit J is provided inside the triangular reinforcement, with the apex of the square wiring conduit J located near the intersection of the first slope segment Y1 and the second slope segment Y2. This arrangement further strengthens the support strength of the triangular reinforcement while facilitating wiring.

[0065] like Figure 10 , 11 As shown, multiple triangular support feet Z are provided on the outer sides of the first wall 1 and the second wall 2. Each triangular support foot Z includes a base wall and two opposing triangular walls Z1. The base wall Z2 is equipped with an adjustment assembly for adjusting the installation height. The triangular support feet Z enhance the stability of the ground rail support and can adapt to uneven ground. The adjustment assembly includes a bolt V1, an adjusting nut V2, and a washer V3. By rotating the adjusting nut, the extension length of the screw can be adjusted, thereby changing the installation height of the ground rail body 11 to adapt to different ground conditions and ensure the levelness and stability of the ground rail. The adjusting bolt ensures that the installation levelness error of the ground rail is ≤0.5°.

[0066] In this embodiment, the structure of the ground rail body 11 is rationally designed. The support beam 12, edge sealing body 13, and pedal 14 together form a stable load-bearing frame. It can withstand the weight of the robot and workpiece, ensuring minimal deformation of the ground rail under heavy loads, thus guaranteeing the stability and safety of the robot's operation. Each component adopts a modular design, making installation convenient and quick. The height adjustment function of the triangular support foot Z adapts to different ground conditions, simplifying the installation process. The rational layout of the cable tray 24 makes cable connections simple and orderly, reducing installation time and potential for malfunctions, and improving the overall installation efficiency of the equipment. This fully enclosed robot transfer ground rail system is not only suitable for the automotive parts processing industry but can also be widely used in many fields such as electronics manufacturing, machining, and logistics warehousing, meeting the needs of different industries for robot transfer and automated production, and has good market prospects and application value.

[0067] This paper introduces a fully enclosed transfer track for robots provided by this invention. Specific examples are used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand this invention and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A fully enclosed transfer track for robots, characterized in that: Includes enclosed ground rail components and a slide platform that carries the robot; The enclosed ground rail assembly has slide rails on both sides, and the slide table includes a support platform, a first sliding frame and a second sliding frame respectively disposed on both sides of the support platform; the first sliding frame and the second sliding frame move along the slide rails; The enclosed ground rail assembly has a strip-shaped notch on one side of its width; the interior area of ​​the enclosed ground rail assembly is equipped with a drag chain system that connects to the robot's power supply. The bottom of the carrying platform is equipped with a drive mechanism and a cable tray. The cable tray is located on the side of the carrying platform near the strip-shaped notch and extends through the strip-shaped notch into the interior area of ​​the ground rail. The cable of the drag chain system passes through the cable tray and is electrically connected to the robot.

2. The fully enclosed robot transfer track according to claim 1, characterized in that: The enclosed ground rail assembly includes a ground rail body, an L-shaped support beam, a U-shaped sealing body, and an L-shaped pedal. The ground rail body includes a first wall and a second wall that are parallel to each other. A first slide rail is provided on the outer top of the first wall, and a second slide rail is provided on the outer top of the second wall. Each support beam is arranged parallel and spaced apart on the ground rail body. The vertical arm of each support beam is fixed to the inner side of the second wall, and the horizontal arm extends horizontally from the top of the vertical arm toward the first wall. The edge banding is fastened to the top of the first wall to cover the first slide rail, and a first gap is formed between its outer groove wall and the first slide rail; the horizontal plate of the pedal is laid on the transverse arm of each support beam and extends to the top of the edge banding, and the strip-shaped notch is formed between the horizontal plate and the top wall of the edge banding; the vertical plate of the pedal bends downward from the outer edge of the horizontal plate and extends to the outer side of the second wall, and a second gap is formed between the vertical plate and the second slide rail; Each sliding frame has a sliding arm that extends downward and then bends inward at its bottom. The sliding arm passes through the first gap and the second gap respectively and forms a sliding fit with the corresponding slide rail.

3. The fully enclosed robot transfer track according to claim 2, characterized in that: A drive motor is provided below the support platform, and the output end of the drive motor extends toward the first wall. The output end of the motor is provided with a transmission gear. The inner side of the first wall is provided with a rack extending along the length of the ground rail, and the gear and rack cooperate to move the slide on the enclosed ground rail assembly.

4. The fully enclosed robot transfer track according to claim 2, characterized in that: The cable tray includes a horizontal portion and an inclined portion. The horizontal portion extends horizontally from the outside of the enclosed ground rail assembly through a strip-shaped notch, and the inclined portion slopes downward toward the interior region of the ground rail. The outer sides of the first and second walls are provided with multiple triangular support feet. Each triangular support foot includes a bottom wall and two opposing triangular walls. The bottom wall is provided with an adjustment component for adjusting the installation height.

5. The fully enclosed robot transfer track according to claim 3, characterized in that: A motor mounting bracket is provided below the support platform, and the drive motor is mounted below the motor mounting bracket; The motor mounting bracket extends inward from the side of the support platform near the first wall and is separated from the bottom of the support platform by a gap; when the slide moves, the support platform is located above the pedal, and the motor mounting bracket and drive motor are located below the pedal.

6. The fully enclosed robot transfer track according to claim 3, characterized in that: The output end of the drive motor is equipped with a reducer with a circular cross-section. A reducer mounting plate is provided below the support platform. The reducer mounting plate has an elliptical hole with its major axis in the vertical direction. The reducer is located in the elliptical hole.

7. The fully enclosed robot transfer track according to claim 2, characterized in that: The support beam has an inclined surface below the end of its transverse arm near the first wall, and the inclined surface is inclined in the direction of the first wall.

8. The fully enclosed transfer track for robots according to claim 2, characterized in that: The ground track body includes multiple connecting beams that connect the first wall and the second wall; triangular reinforcements are provided at the corners where the connecting beams meet the first wall or the second wall.

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

10. A fully enclosed robot transfer track according to claim 9, characterized in that: The triangular reinforcement has a square cable conduit inside, and the apex of the square cable conduit is close to the junction of the first slope segment and the second slope segment.

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