CN110203503A - A kind of four Axle mould group of linear splines for being posted at a high speed - Google Patents

Abstract

The invention discloses a linear spline four-axis die for high-speed transfer. The linear spline four-axis module includes a main beam, the X-direction linear module is installed at both ends of the lower surface of the main beam, the Y-direction linear module is installed on the upper surface of the main beam, and the moving end of the Y-direction linear module is installed with a moving frame , there are two servo motors fixed in the moving frame, each servo motor is connected to an active synchronous pulley with a key on the extension shaft, and the spline shaft of the spline module is connected with a passive synchronous pulley, Spline nut, lead screw nut and passive synchronous pulley, each passive synchronous pulley is connected to an active synchronous pulley through a synchronous belt, the start and stop of the two servo motors can drive the spline shaft to output linear motion, circular rotation and spiral motion . The invention has the effects of high speed, large load, high precision of moving position and high production efficiency.

Description

A linear spline four-axis module for high-speed transfer

technical field

The invention relates to a high-speed linear four-axis transfer device in 3C production, in particular to a linear spline four-axis module for high-speed transfer.

Background technique

The production of 3C products often involves sheet material reposting process. The existing reposting often uses manual reposting or reposting modules. Manual reposting is slow, prone to human error, product quality is uncontrollable, and consumes a lot of labor costs; There are two forms, one is the combination of single shaft and cylinder, the disadvantages of this mode are slow speed, small transfer load, large vibration during reciprocating motion, low position accuracy, low product accuracy, low yield rate, and frequent maintenance , the utilization rate of the equipment is low; the second is the direct handling by the manipulator, the disadvantage is that the manipulator is large in size, the space layout is limited, it is greatly affected by the product specifications, and there are also problems of slow speed and small load.

Contents of the invention

In order to solve one or more of the above problems, the present invention provides a linear spline four-axis module for high-speed reposting.

According to one aspect of the present invention, the linear spline four-axis module includes a main beam,

The X-direction linear module is fixed on the base, and the moving end of the X-direction linear module is installed at both ends of the lower surface of the main beam.

The Y-direction linear module is installed on the upper surface of the main beam, and the moving end of the Y-direction linear module is installed with a moving frame.

There are two servo motors fixed in the moving frame, each servo motor is connected to a driving synchronous pulley with a key on the extended shaft.

The spline module includes a spline shaft and a fixed block. The spline shaft is connected with a passive synchronous pulley, a spline nut, a screw nut and a passive synchronous pulley from top to bottom. The fixed block is connected to the moving frame. The upper end hole of the fixed block is installed with a screw nut and the lower end hole is installed with a spline nut. Each passive synchronous pulley is connected to an active synchronous pulley through a synchronous belt. The start and stop of the two servo motors can drive the spline shaft to output linear motion and circular rotation. and spiral motion.

The device adopts the X-box linear module and the Y-direction linear module to perform high-precision high-speed and high-precision movement in the XY direction, and the Z-direction and R-direction rotation realizes up and down and rotary motion through the combination of the spline module and two servo motors. The beneficial effects are as follows: firstly, the linear module and the spline module have fast speed, large load, and high precision of moving position, greatly improving the equipment speed and load capacity, and high production efficiency; secondly, the large load can be applied to various specifications Third, the overall size of the equipment is small and the space layout is flexible, which facilitates the installation and debugging of the equipment, reduces the floor space of the production line, and facilitates observation and operation; fourth, the unmanned operation avoids the Human factor error, while reducing the number of maintenance stops, saving maintenance time and maintenance personnel, high equipment utilization rate, high production efficiency.

In some embodiments, the X-direction linear module includes a linear motor and a first sliding rail and a first sliding block that cooperate with each other. The linear motor and the first sliding rail are installed on the base parallel to each other along the X direction. The movement of the linear motor The end and the first slider are respectively connected to the two ends of the lower surface of the main girder,

The Y-direction linear module includes a linear motor, a linear motor is fixed on the upper surface of the main beam, and a moving frame is installed at the moving end of the linear motor.

In some embodiments, the linear motor includes a motor mover and a motor stator that cooperate with each other, the motor stator is fixed in the middle of the bottom plate, the motor mover is slidably connected to the motor stator, the upper surface of the motor mover is connected to the middle of the lower surface of the mover seat, The position feedback system connector and the motor power line connector are installed on the motor mover. The sensor of the position feedback system is installed on the side surface of the mover base. The sensor bar of the position feedback system is installed on the side surface of the bottom plate. switch.

In some embodiments, the linear motor further includes a second sliding rail and a second sliding block that cooperate with each other. Two second sliding blocks are respectively installed on both sides of the lower surface of the mover seat, and two second sliding blocks are respectively fixed on both sides of the upper surface of the bottom plate. Slide rails, each second slide rail is slidably connected with two second slide blocks.

In some embodiments, the base includes a left bottom beam and a right bottom beam, the left bottom beam and the right bottom beam are I-shaped beams, a bottom plate is installed on the right bottom beam, a track plate is installed on the left bottom beam, and a track plate is mounted on the track plate. fixed with the first slide rail,

The upper surfaces of the two first sliders are fixed to the adapter plate, the adapter plate is connected to the lower surface of one end of the main beam, and the lower surface of the other end of the main beam is connected to a mover seat,

The bottom plate of the Y-direction linear module is connected to the upper surface of the main beam or the main beam, and the moving frame is connected to the mover seat of the Y-direction linear module.

In some embodiments, the two ends of the second slide rail are respectively provided with rubber columnar bumpers, and the bumpers are fixed on the bottom plate through the mounting base, and the two ends of the first slide rail are also installed with rubber columnar bumpers.

In some embodiments, the X-direction linear module includes a first towline frame, and the first towline frame includes a first body of a door frame structure, and the lower end of the vertical plate of the first body is respectively connected to the mounting seat or the bottom plate of the bumper , the outside of the first body is bent upwards and then bent inwards to form a C-shaped body, the first drag chain is located in the C-shaped body and fixed on the vertical plate of the C-shaped body, the other end of the first drag chain is fixed on the first drag chain plate, The first drag chain plate is located inside the first body and fixed on the main beam,

The Y-direction linear module includes the second drag chain frame, which includes the second body of the door structure. The two sides of the second body are bent upwards to form a wing plate. The lower end of the vertical plate of the second body is connected to the bumper. The second drag chain is located in the wing plate and one end is fixed on the horizontal plate of the second body, the other end of the second drag chain is fixed on the second drag chain plate, and the second drag chain plate is fixed on the mobile frame .

In some embodiments, the spline shaft is a shaft provided with a ball screw and a track groove of the spline, the spline nut is a ball spline outer cylinder, the lead screw nut is a ball screw nut, and the fixing block is located at two Between the servo motors, the two servo motors are arranged vertically and the output shafts are arranged in opposite directions, and the active synchronous pulley and the passive synchronous pulley are respectively located in the same plane.

In some embodiments, the upper end and the lower end of the spline shaft are respectively provided with a limit sleeve with a ring structure, and the limit sleeve is provided with a slot along the radial direction, and a threaded hole is provided on one end wall of the slot, and the other end corresponds to the position There is a through hole for installation, and the clamping screw passes through the through hole for installation, and is screwed into the threaded hole through the slot and fixed on the spline shaft.

In some embodiments, the mobile frame is a rectangular box structure with a hollow interior and an open lower end, and a sealing plate is installed on the lower opening of the mobile frame. There are perforations, and the rear ends of the two side plates of the mobile frame and the lower ends of the rear side plates are provided with escape openings, and the escape openings are provided with mounting plates connected to the main beam.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a linear spline four-axis module for high-speed reposting according to an embodiment of the present invention;

Fig. 2 is a three-dimensional schematic diagram of the X-direction linear module 2 and the Y-direction linear module shown in Fig. 1;

Fig. 3 is a three-dimensional schematic diagram of the linear motor shown in Fig. 1;

Fig. 4 is a schematic top view of the linear motor shown in Fig. 3;

Fig. 5 is a schematic sectional view of A-A of the linear motor shown in Fig. 4;

Fig. 6 is a three-dimensional schematic diagram of the mobile frame and the spline module shown in Fig. 1;

Fig. 7 is a schematic front view of the mobile frame and the spline module shown in Fig. 6;

Fig. 8 is a B-B schematic diagram of the mobile frame and the spline module shown in Fig. 7;

Fig. 9 is a three-dimensional schematic diagram of the spline module and the servo motor shown in Fig. 6;

Main beam 1, X-direction linear module 2, first slide rail 21, first slider 22, first drag chain plate 23, first drag chain frame 24, first body 241, C-shaped body 242, first drag chain 25, Y-direction linear module 3, second drag chain frame 31, second body 311, wing plate 312, second drag chain 32, second drag chain plate 33, moving frame 4, perforation 41, avoidance port 42, seal Plate 43, servo motor 5, spline module 6, spline shaft 61, spline nut 62, lead screw nut 63, fixed block 64, passive synchronous pulley 65, active synchronous pulley 66, limit sleeve 67, base 7. Left bottom beam 71, right bottom beam 72, track plate 73, linear motor 8, bottom plate 80, motor mover 81, motor stator 82, mover seat 83, second slide rail 84, second slider 85, sensor 86, induction bar 87, bumper 88.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "inner" and "outer ” refer to directions towards or away from the geometric center of a particular part, respectively.

1 to 9 schematically show a linear spline four-axis module for high-speed reposting according to an embodiment of the present invention. As shown in the figure, the main beam 1 of the device,

The X-direction linear module 2 is fixed on the base 7, and the moving end of the X-direction linear module 2 is installed on both ends of the lower surface of the main beam 1,

The Y-direction linear module 3 is installed on the upper surface of the main beam 1, and the moving end of the Y-direction linear module 3 is equipped with a moving frame 4, and two servo motors 5 are fixed inside the moving frame 4, and the extension shaft of each servo motor 5 The upper key is connected with a driving synchronous pulley 66,

The spline module 6 includes a spline shaft 61 and a fixed block 64. The spline shaft 61 is sequentially connected with a passive synchronous pulley 65, a spline nut 62, a screw nut 63 and a passive synchronous pulley 65 from top to bottom. The fixed block 64 is connected in the mobile frame 4, the screw nut 63 is installed in the upper end hole of the fixed block 64 and the spline nut 62 is installed in the lower end hole, each passive synchronous pulley 65 is connected with a driving synchronous pulley 66 by a synchronous belt, and the spline shaft The lower end of 61 is the output end, and the start and stop of the two servo motors 5 can drive the spline shaft 61 to output linear motion, circular rotation and helical motion.

In the spline module 6, the screw nut 63 and the spline shaft 61 form a ball screw nut pair, which converts rotary motion into linear motion, and has high precision, reversibility, high efficiency, and small frictional resistance. The nut 62 and the spline shaft 61 form a ball spline nut pair, which can realize the helical motion compounded by circular motion and linear motion. When the key shaft moves linearly, it can transmit torque for rotation. The spline pair has a relatively compact structure, can transmit excess load and power, and has a long life.

Therefore, the output motion of the spline module 6 is that the passive synchronous pulley 65 at the upper end drives the screw nut 63 to rotate, the spline shaft 61 moves up and down, the passive synchronous pulley 65 at the lower end drives the spline nut 62 to rotate, and the spline nut 62 rotates. The key shaft 61 performs helical rotation compounded by vertical motion and circular rotation. Two passive synchronous pulleys 65 respectively drive the lead screw nut 63 and the spline nut 62 to rotate in the same direction, and the spline shaft 61 performs circular rotation.

The device adopts the X-box linear module 2 and the Y-direction linear module 3 to perform high-precision high-speed and high-precision movement in the XY direction, and the Z-direction and R-direction rotation realizes up and down and rotation through the combination of the spline module 6 and two servo motors. Movement, its beneficial effects are: first, the linear module and the spline module 6 have fast speed, large load, and high precision of moving position, which greatly improves the speed and load capacity of the equipment, and the production efficiency is high; second, the large load can It is suitable for products of various specifications, and the equipment utilization rate is high; third, the overall size of the equipment is small, and the advantages of flexible space layout facilitate the installation and debugging of equipment, reduce the floor area of the production line, and facilitate observation and operation; fourth, unmanned The operation avoids human error, reduces the number of maintenance stops, saves maintenance time and maintenance personnel, and has high equipment utilization rate and high production efficiency.

Preferably, the X-direction linear module 2 includes a linear motor 8 and a first sliding rail 21 and a first sliding block 22 that cooperate with each other. The linear motor 8 and the first sliding rail 21 are installed on the base 7 parallel to each other along the X direction. The moving end of the linear motor 8 and the first slider 22 are respectively connected to the two ends of the lower surface of the main beam 1,

The Y-direction linear module 3 includes a linear motor 8 , a linear motor 8 is fixed on the upper surface of the main beam 1 , and a moving frame 4 is installed on the moving end of the linear motor 8 . Its beneficial effects are: first, the structure of the linear motor 8 is simple, and the linear motor does not need to pass through an intermediate conversion mechanism to directly generate linear motion, so that the structure is greatly simplified, the motion inertia is reduced, and the dynamic response performance and positioning accuracy are greatly improved; Reliability, cost savings, easier manufacturing and maintenance. Second, it has high acceleration and is suitable for high-speed linear motion, and the moving part has no friction and noise; third, it has strong adaptability. The primary iron core of the linear motor can be sealed as a whole with epoxy resin, which has good anti-corrosion and moisture-proof performance. , easy to use in the environment of humidity, dust and harmful gas.

Preferably, the linear motor 8 includes a motor mover 81 and a motor stator 82 that cooperate with each other. The motor stator 82 is fixed in the middle of the bottom plate 80. The motor mover 81 is slidably connected to the motor stator 82. The upper surface of the motor mover 81 is connected to the mover. In the middle of the lower surface of the seat 83, the position feedback system connector and the motor power line connector are installed on the motor mover 81, the sensor 86 of the position feedback system is installed on the side surface of the mover seat 83, and the position feedback system is installed on the side surface of the bottom plate 80. The sensing strip 87 is provided with limit switches at both ends of the sensing strip 87. The beneficial effect is that the set linear motor 8 has precise position control, fast acceleration and deceleration, and is suitable for high-speed operation.

Preferably, the linear motor 8 also includes a second sliding rail 84 and a second sliding block 85 that cooperate with each other. Two second sliding blocks 85 are respectively installed on both sides of the lower surface of the mover seat 83, and the two sides of the upper surface of the bottom plate 80 are respectively fixed. There are second slide rails 84 , and two second slide blocks 85 are slidably connected to each second slide rail 84 . The beneficial effect is that the linear sliding rail is matched, the straightness of the linear motion is high, and the motion frictional resistance is small.

Preferably, the base 7 includes a left bottom beam 71 and a right bottom beam 72, the left bottom beam 71 and the right bottom beam 72 are I-shaped beams, a bottom plate 80 is installed on the right bottom beam 72, and a track is installed on the left bottom beam 71 plate 73, the first slide rail 21 is fixed on the track plate 73,

The upper surfaces of the two first sliders 22 are fixed on the adapter plate, the adapter plate is connected to the lower surface of one end of the main beam 1, and the lower surface of the other end of the main beam 1 is connected to a mover seat 83,

The bottom plate 80 of the Y-direction linear module 3 is connected to the upper surface of the main beam 1 or the main beam 1 , and the moving frame 4 is connected to the mover seat 83 of the Y-direction linear module 3 . The beneficial effects are: the base 7 has high structural strength, high rigidity, good anti-vibration effect, convenient installation and adjustment, and can obtain an excellent installation plane.

Preferably, the two ends of the second slide rail 84 are respectively provided with a rubber columnar bumper 88, the bumper 88 is fixed on the base plate 80 through the mounting seat, and the two ends of the first slide rail 21 are also equipped with a rubber columnar bumper 88. The beneficial effect is that the bumper 88 can slow down the damage of abnormal running obstacles.

Preferably, the X-direction linear module 2 includes a first drag chain frame 24, and the first drag chain frame 24 includes a first body 241 of a door frame structure, and the lower ends of the vertical plates of the first body 241 are respectively connected to the mounting seats of the bumpers 88 Or on the bottom plate 80, the outside of the first body 241 is bent upwards and then bent inwards to form a C-shaped body 242. The first drag chain 25 is located in the C-shaped body 242 and fixed on the vertical plate of the C-shaped body 242. The first drag chain 25 is in addition One end is fixed on the first drag chain plate 23, the first drag chain plate 23 is located inside the first body 241 and fixed on the main beam 1,

The Y-direction linear module 3 includes a second towline frame 31, and the second towline frame 31 includes a second body 311 of a door structure. Both sides of the second body 311 are bent upward to form wing plates 312. The lower end of the plate is connected to the mount of the bumper 88, the second drag chain 32 is located in the wing plate 312 and one end is fixed on the horizontal plate of the second body 311, and the other end of the second drag chain 32 is fixed on the second drag chain plate 33, the second drag chain plate 33 is fixed on the mobile frame 4. The beneficial effect is that the set drag chain has a simple structure and high flexibility, and the cable will not be damaged after repeated adaptation.

Preferably, the spline shaft 61 is a shaft provided with a ball screw and a spline track groove, the spline nut 62 is a ball spline outer cylinder, the lead screw nut 63 is a ball screw nut, and the fixing block 64 is located on both sides. Between the two servo motors 5, two servo motors 5 are vertically arranged and the output shafts are reversed, and the driving synchronous pulley 66 and the passive synchronous pulley 64 are respectively located in a plane.

Preferably, the upper end and the lower end of the spline shaft 61 are respectively provided with a limit sleeve 67 of an annular structure, the limit sleeve 67 is provided with a slot in the radial direction, one end wall of the slot is provided with a threaded hole and the other end corresponds to the position An installation through hole is provided, and the clamping screw passes through the installation through hole and is screwed into the threaded hole through the slot to be fixed on the spline shaft 61 . Its beneficial effect is: the limit sleeve 67 can prevent the phenomenon that the spline shaft 61 moves up and down excessively, causing the screw nut 63 and the spline nut 62 to separate from the spline shaft 61, so that the balls in the two nuts are scattered outward, and the equipment is obstructed. stop.

Preferably, the mobile frame 4 is a rectangular box structure with a hollow interior and an open lower end, the lower opening of the mobile frame 4 is equipped with a sealing plate 43, and at the installation position of the spline shaft 61, the upper cover plate of the mobile frame 4 and the sealing plate 43 Perforation 41 is respectively opened on the top, and the rear end of the two side plates of the mobile frame 4 and the lower end of the rear side plate are provided with an escape opening 42, and the escape opening 42 is provided with a mounting plate connecting the main beam 1.

What have been described above are only some embodiments of the present invention. For those skilled in the art, without departing from the inventive concept of the present invention, several modifications and improvements can be made, and these all belong to the protection scope of the present invention.

Claims (10)

1. A linear spline four-axis module for high-speed reposting, characterized in that it comprises a main beam (1), The X-direction linear module (2) is fixed on the base (7), and the moving end of the X-direction linear module (2) is installed at both ends of the lower surface of the main beam (1), The Y-direction linear module (3) is installed on the upper surface of the main beam (1), and the moving end of the Y-direction linear module (3) is equipped with a moving frame (4), Two servomotors (5) are fixed inside the moving frame (4), and a drive synchronous belt pulley (66) is keyed on the outstretched shaft of each of the servomotors (5), The spline module (6) includes a spline shaft (61) and a fixed block (64), and the spline shaft (61) is sequentially connected with a passive synchronous pulley (65), a spline nut ( 62), screw nuts (63) and the passive synchronous pulley (65), the fixed block (64) is connected in the moving frame (4), and the upper end hole of the fixed block (64) is installed with the The screw nut (63) and the spline nut (62) are installed in the lower end hole, each of the passive synchronous pulleys (65) is connected to one of the active synchronous pulleys (66) through a synchronous belt, and the two servo The start and stop of the motor (5) can drive the spline shaft (61) to output linear motion, circular rotation and spiral motion. 2. A kind of linear spline four-axis module for high-speed reposting according to claim 1, characterized in that, the X-direction linear module (2) includes a linear motor (8) and a first cooperating A slide rail (21), a first slide block (22), the linear motor (8) and the first slide rail (21) are installed parallel to each other on the base (7) along the X direction, and the linear The moving end of the motor (8) and the first slider (22) are respectively connected to both ends of the lower surface of the main beam (1), The Y-direction linear module (3) includes a linear motor (8), the upper surface of the main beam (1) is fixed with a linear motor (8), and the moving end of the linear motor (8) is installed The mobile frame (4). 3. A linear spline four-axis module for high-speed reposting according to claim 2, wherein the linear motor (8) includes a motor mover (81) and a motor stator (82) that cooperate with each other. ), the motor stator (82) is fixed in the middle of the bottom plate (80), the motor mover (81) is slidably connected to the motor stator (82), and the upper surface of the motor mover (81) is connected to the In the middle of the lower surface of the mover seat (83), the position feedback system connector and the motor power line connector are installed on the motor mover (81), and the sensor of the position feedback system is installed on the side surface of the mover seat (83). (86), the side surface of the bottom plate (80) is installed with a sensor bar (87) of a position feedback system, and limit switches are arranged at both ends of the sensor bar (87). 4. A kind of linear spline four-axis module for high-speed reposting according to claim 3, characterized in that, the linear motor (8) also includes a second sliding rail (84), a second slider (85), two second sliders (85) are respectively installed on both sides of the lower surface of the mover seat (83), and the second sliders (85) are respectively fixed on both sides of the upper surface of the bottom plate (80). Slide rails (84), each of the second slide rails (84) is slidably connected with two of the second slide blocks (85). 5. A kind of linear spline four-axis module for high-speed reposting according to claim 4, characterized in that, the base (7) comprises a left bottom beam (71), a right bottom beam (72), and the The left bottom beam (71) and the right bottom beam (72) are I-shaped beams, and a bottom plate (80) is installed on the right bottom beam (72), and the left bottom beam (71) A track plate (73) is installed, and the first slide rail (21) is fixed on the track plate (73), The upper surfaces of the two first sliders (22) are fixed on an adapter plate, the adapter plate is connected to the lower surface of one end of the main beam (1), and the lower surface of the other end of the main beam (1) is connected to a the mover seat (83), The bottom plate (80) of the Y-direction linear module (3) is connected to the upper surface of the main beam (1) or is the main beam (1), and the moving frame (4) is connected to the Y-direction The mover seat (83) of the linear module (3). 6. A kind of linear spline four-axis module for high-speed reposting according to claim 5, characterized in that rubber columnar bumpers (88) are respectively provided at both ends of the second slide rail (84) ), the bumper (88) is fixed on the base plate (80) through a mount, and the bumper (88) in the shape of a rubber column is also installed at both ends of the first slide rail (21). 7. A kind of linear spline four-axis module for high-speed reposting according to claim 6, characterized in that, the X-direction linear module (2) includes a first drag chain frame (24), the The first drag chain frame (24) comprises the first body (241) of the door frame structure, and the lower end of the vertical plate of the first body (241) is respectively connected to the mounting seat of the bumper (88) or the base plate ( 80), the outer side of the first body (241) is bent upwards and then bent inwards to form a C-shaped body (242), and the first drag chain (25) is located in the C-shaped body (242) and fixed on the C-shaped body (242). On the vertical plate of the body (242), the other end of the first drag chain (25) is fixed on the first drag chain plate (23), and the first drag chain plate (23) is located on the first body (241 ) inside and fixed on the main beam (1), The Y-direction linear module (3) includes a second drag chain frame (31), and the second drag chain frame (31) includes a second body (311) of a door structure, and the second body (311) Both sides are bent upwards to form a wing plate (312), the lower end of the vertical plate of the second body (311) is connected to the mounting seat of the bumper (88), and the second drag chain (32) is located on the wing plate (312) and one end is fixed on the horizontal plate of the second body (311), the other end of the second drag chain (32) is fixed on the second drag chain plate (33), the second drag chain The chain plate (33) is fixed on the moving frame (4). 8. A linear spline four-axis module for high-speed reposting according to claim 1, wherein the spline shaft (61) is a track groove provided with a ball screw and a spline shaft, the spline nut (62) is a ball spline outer cylinder, the screw nut (63) is a ball screw nut, and the fixed block (64) is located between the two servo motors (5) In between, the two servo motors (5) are vertically arranged and the output shafts are set in opposite directions, and the driving synchronous pulley (66) and the passive synchronous pulley (64) are respectively located in a plane. 9. A linear spline four-axis module for high-speed reposting according to claim 1, characterized in that, the upper end and the lower end of the spline shaft (61) are respectively provided with a ring-shaped stop sleeve (67), the limit sleeve (67) is provided with a slit in the radial direction, a threaded hole is provided on one end wall of the slit, and a through hole is provided at the corresponding position at the other end, and the clamping screw passes through the The through hole is installed, and the slotted seam is screwed into the threaded hole to be fixed on the spline shaft (61). 10. A linear spline four-axis module for high-speed reposting according to claim 1, characterized in that, the moving frame (4) is a rectangular box structure with a hollow inside and an open lower end, and the moving The lower opening of the frame (4) is equipped with a sealing plate (43), and at the installation position of the spline shaft (61), the upper cover plate of the moving frame (4) and the sealing plate (43) are respectively provided with There are perforations (41), and the rear end of the two side plates of the mobile frame (4) and the lower end of the rear side plate are provided with an escape port (42), and the avoidance port (42) is provided with a bridge connecting the main beam (1 ) mounting plate.