Rail embedded type orthogonal sliding table suitable for manipulator

Abstract

The invention relates to the technical field of mechanical arm devices, in particular to a track embedded type orthogonal sliding table suitable for a mechanical arm, which comprises a sliding table main body, a flatness adjusting mechanism is arranged at the lower end of the sliding table main body, and the flatness adjusting mechanism comprises a main body mounting plate fixed at the lower end of the sliding table main body; an adjusting mounting plate is arranged at the lower end of the main body mounting plate, a plurality of groups of curved connecting sheets are arranged between the adjusting mounting plate and the main body mounting plate, and the plurality of groups of curved connecting sheets are uniformly distributed in the length direction of the adjusting mounting plate. The flatness adjusting mechanism is arranged, the possibility that when the sliding table body is installed, the sliding table body deforms in order to be attached to the reference installation table is effectively reduced, the flatness of a sliding rail on the sliding table body after installation is guaranteed, the possibility that a sliding block is clamped due to deformation of the sliding rail on the sliding table body is reduced, the operation smoothness of the mechanical arm is guaranteed, and the service life of the mechanical arm is prolonged. The operation effect of the manipulator is improved.

Description

Technical Field

[0001] The present application relates to the technical field of manipulator devices, and in particular to a track-embedded orthogonal slide suitable for a manipulator. Background Art

[0002] Robots are often used in the process of handling objects. They can replace human labor to perform work in environments that are unfavorable to the human body, replacing manual labor and maintaining personal safety. In automated production lines, robots are installed on guide rails, which can drive the robots to move back and forth in a linear direction to facilitate the robot to grasp and transport objects.

[0003] The rail-embedded orthogonal slide is a type of guide rail slide and a precision linear motion control device. It is commonly used in motion control devices of automated production lines and robotic arms, and is used in applications that require high-precision positioning and miniaturized design. It integrates multiple components of the slide (such as guide rails, drive systems, transmission devices, etc.) into a compact module, which takes up little space and has a low friction coefficient. It effectively reduces the energy consumption of the slide and improves the working efficiency of the slide. It has the characteristics of high precision and stability.

[0004] Regarding the above-mentioned related technologies, the slide is usually installed directly on the reference mounting platform. The flatness of the surfaces of different reference mounting platforms is different, and a gap is likely to appear between the slide and the reference mounting platform, resulting in vibration during the movement of the slide. In order to ensure the stability of the slide during operation, the slide needs to be installed in contact with the surface of the reference mounting platform. When the slide is forcibly installed in contact with the surface of the reference mounting platform, the slide rail of the slide is prone to deformation, which in turn causes jamming during the operation of the slide, which is not conducive to the displacement of the manipulator at the upper end of the slide. Long-term jamming will greatly reduce the service life of the slide and easily cause the manipulator to tilt, affecting the working efficiency of the manipulator. Summary of the Invention

[0005] In response to the above-mentioned shortcomings of the prior art, the present application provides a track-embedded orthogonal slide suitable for a manipulator, comprising a slide body, wherein the lower end of the slide body is provided with a flatness adjustment mechanism, wherein the flatness adjustment mechanism comprises a main body mounting plate fixed to the lower end of the slide body, an adjustment mounting plate is provided at the lower end of the main body mounting plate, a plurality of groups of curved connecting pieces are provided between the adjustment mounting plate and the main body mounting plate, the plurality of groups of curved connecting pieces are evenly distributed along the length direction of the adjustment mounting plate, and a spacing adjustment component is provided between the main body mounting plate and the adjustment mounting plate and near the curved connecting pieces; The spacing adjustment assembly includes a fixing plate fixed to the inner side of the main mounting plate, a limiting sleeve is provided on the surface of the fixing plate close to the adjusting mounting plate, a double-threaded sleeve is inserted into the limiting sleeve, one end of the double-threaded sleeve is provided with a clamping joint, the threads at both ends of the double-threaded sleeve are rotated in opposite directions, and displacement blocks symmetrically distributed about the limiting sleeve are sleeved on both ends of the double-threaded sleeve, and a threaded through hole for connecting the double-threaded sleeve is opened on the displacement block; The end of the clamping joint inserted into the double-threaded sleeve is provided with a displacement rod, and the displacement rod is provided with a clamping part close to the limiting sleeve. The clamping part is located inside the limiting sleeve and is used to clamp the double-threaded sleeve.

[0006] Furthermore, the clamping part includes an installation box fixed inside the limiting sleeve, and the interior of the installation box is provided with displacement side plates symmetrically distributed about the installation box, one of the displacement side plates is fixedly connected to the displacement rod inside the double-headed threaded sleeve, and a secondary friction pad is provided on one side surface of the displacement side plate, and a main friction pad is provided inside the limiting sleeve and close to the secondary friction pad, and the secondary friction pad abuts against the main friction pad.

[0007] Furthermore, both ends of the installation box are provided with side hollow plates symmetrically distributed about the installation box, the two displacement side plates are located in the interlayer between the two side hollow plates, and the end of the auxiliary friction pad close to the side hollow plate is inserted into the through groove opened on the surface of the side hollow plate.

[0008] Furthermore, a center sleeve is provided inside the installation box, and displacement sleeves symmetrically distributed about the center sleeve are provided at both ends of the center sleeve, and the displacement sleeve is slidably connected to the center sleeve, and the displacement sleeve is fixedly connected to the surface of the displacement side plate away from the side hollow plate. A fixing rod is provided on the inner side wall of the center sleeve, and a cross connecting rod with a built-in torsion spring is provided on the outer side of the fixing rod, and the two ends of the cross connecting rod are respectively slidably connected to the displacement side plates on both sides.

[0009] Furthermore, the upper end of the displacement block is provided with an inclined abutment plate that abuts against the adjustment mounting plate, the position of the adjustment mounting plate close to the inclined abutment plate is set as an inclined surface parallel to the surface of the inclined abutment plate, and the end of the displacement block away from the adjustment mounting plate is provided with a limiting protrusion.

[0010] Furthermore, the upper end of the inclined abutment plate is provided with a top slide engaged with the adjustment mounting plate, and the top slide slides in a slide groove on the surface of the adjustment mounting plate. The lower end of the displacement block is provided with a bottom slide engaged with the fixed plate, and the bottom slide slides in the slide groove on the surface of the fixed plate.

[0011] Furthermore, a constraint cylinder is provided at one end of the double-headed threaded sleeve close to the clamping joint, a movable clamping sleeve is provided in the constraint cylinder, one end of the movable clamping sleeve is inserted into the constraint cylinder, and the end of the movable clamping sleeve inserted in the constraint cylinder can be engaged with the clamping joint.

[0012] Furthermore, a reset spring is sleeved on one end of the movable coupling sleeve inserted into the constraint cylinder, one end of the reset spring is fixedly connected to the movable coupling sleeve, and the other end of the reset spring is fixedly connected to the inner side wall of the constraint cylinder.

[0013] Compared with the known prior art, the technical solution provided by this application has the following beneficial effects: 1. This application provides a flatness adjustment mechanism, arranges a main body mounting plate and an adjustment mounting plate at the lower end of the slide body, and adjusts the distance between the main body mounting plate and the adjustment mounting plate at different positions through a spacing adjustment component, so that the adjustment mounting plate can fit closely to the surface of the reference mounting platform, effectively reducing the possibility of deformation of the slide body due to fitting closely to the reference mounting platform when installing the slide body, ensuring the flatness of the slide rail on the slide body after installation, reducing the possibility of the slider getting stuck due to deformation of the slide rail on the slide body, ensuring the smoothness of the operation of the manipulator, and improving the operation effect of the manipulator; 2. This application provides a movable snap-fit ​​sleeve and utilizes a fixed connection between a return spring and a restraining cylinder to disengage the movable snap-fit ​​sleeve from the engagement with the snap joint under normal conditions. When the movable snap-fit ​​sleeve is disengaged from the snap joint, rotating the movable snap-fit ​​sleeve alone cannot directly drive the snap joint to rotate, thereby reducing the error rate during use of the spacing adjustment assembly and ensuring the adjustment efficiency of the flatness adjustment mechanism. 3. This application sets a clamping part and uses a cross-link to connect the displacement side plates on both sides. By changing the angle of the cross-link, the displacement side plates on both sides are displaced synchronously, and the abutment and disengagement states of the main friction pad and the auxiliary friction pad are quickly switched. This reduces the possibility of the double-headed threaded sleeve accidentally rotating due to the vibration of the slide body under normal conditions, reduces the possibility of the displacement block being displaced due to the accidental rotation of the double-headed threaded sleeve, and improves the stability of the spacing adjustment component. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of the embodiment of the present application; Figure 2 This is a structural diagram of the flatness adjustment mechanism in an embodiment of the present application; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic structural diagram of the spacing adjustment component in an embodiment of the present application; Figure 5This is a structural diagram of the movable clamping sleeve in the embodiment of the present application; Figure 6 This is a structural diagram of the displacement block in the embodiment of the present application; Figure 7 This is a schematic structural diagram of the displacement rod in an embodiment of the present application; Figure 8 This is a schematic structural diagram of the main friction pad in an embodiment of the present application; Figure 9 This is a schematic structural diagram of the clamping portion in an embodiment of the present application; Figure 10 Schematic diagram of the structure of the cross connecting rod in the embodiment of the present application.

[0015] In the figure: 1. Slide body; 2. Flatness adjustment mechanism; 21. Main body mounting plate; 22. Adjustment mounting plate; 23. Curved connecting piece; 3. Spacing adjustment assembly; 31. Fixed plate; 32. Limiting sleeve; 321. Main friction pad; 33. Displacement block; 331. Threaded through hole; 332. Inclined abutment plate; 333. Limiting protrusion; 334. Top slide; 335. Bottom slide; 34. Double-headed threaded sleeve; 35. Displacement rod; 351. Card joint; 36. Constraint cylinder; 37. Movable card sleeve; 38. Reset spring; 4. Clamping part; 41. Mounting box; 42. Side hollow plate; 43. Center sleeve; 44. Displacement side plate; 45. Auxiliary friction pad; 46. Displacement sleeve; 47. Fixed rod; 48. Cross connecting rod. DETAILED DESCRIPTION

[0016] In order to better understand the above technical solution, Figure 1-10 And specific implementation methods are used to describe the above technical solutions in detail.

[0017] refer to Figures 1 to 3 The present application discloses a rail-embedded orthogonal slide suitable for a manipulator, comprising a slide body 1 and a flatness adjustment mechanism 2. The flatness adjustment mechanism 2 is mounted at the lower end of the slide body 1, and is used to mount the slide body 1 on a reference mounting platform. The flatness adjustment mechanism 2 comprises a main mounting plate 21, an adjustment mounting plate 22, a curved connecting piece 23 and a spacing adjustment assembly 3. The main mounting plate 21 is fixedly mounted on the lower end of the slide body 1, the curved connecting piece 23 is fixedly mounted on the side surface of the main mounting plate 21 away from the slide body 1, and the adjustment mounting plate 22 is fixedly mounted on the end of the curved connecting piece 23 away from the main mounting plate 21. The curved connecting piece 23 is fixedly mounted between the main mounting plate 21 and the adjustment mounting plate 22, and a plurality of groups of curved connecting pieces 23 are evenly distributed along the length direction of the main mounting plate 21. The spacing adjustment assembly 3 is mounted on the inner side of the main mounting plate 21 and close to the curved connecting piece 23, and is used to adjust the spacing between the main mounting plate 21 and the adjustment mounting plate 22.

[0018] When installing the slide body 1, the distance between the main mounting plate 21 and the adjustment mounting plate 22 is adjusted through the distance adjustment component 3. The height of the main mounting plate 21 at different positions is changed by the distance adjustment component 3 at different positions, and the curvature of the curved connecting piece 23 at different positions is changed, thereby adjusting the flatness of the main mounting plate 21 and the slide body 1.

[0019] refer to Figures 2 to 7 The spacing adjustment assembly 3 includes a fixed plate 31, a limiting sleeve 32, a displacement block 33, an inclined abutment plate 332, a limiting protrusion 333, a top slide 334, a bottom slide 335, a double-headed threaded sleeve 34, a displacement rod 35, a clamping joint 351, a restraining tube 36, a movable clamping sleeve 37, a return spring 38 and a clamping part 4.

[0020] The inner sides of the main mounting plate 21 and the adjustment mounting plate 22 are both provided with rectangular grooves for installing the spacing adjustment assembly 3, and the fixed plate 31 is fixedly installed in the mounting groove on the inner side of the main mounting plate 21. The limiting sleeve 32 is fixedly installed on the side surface of the fixing plate 31 close to the adjustment mounting plate 22. The double-threaded sleeve 34 is rotatably installed inside the limiting sleeve 32, and two groups of threads with opposite rotation directions are provided on the outer wall of the double-threaded sleeve 34, one group of threads is located on one side of the limiting sleeve 32, and the other group of threads is located on the other side of the limiting sleeve 32. The two groups of threads with opposite rotation directions are symmetrically distributed about the limiting sleeve 32. A threaded through hole 331 is provided on the displacement block 33, and the displacement block 33 is threadedly connected to the two ends of the double-threaded sleeve 34 through the threaded through hole 331. The two displacement blocks 33 are symmetrically distributed about the limiting sleeve 32. Because the two sets of threads on the outside of the double-threaded sleeve 34 rotate in opposite directions, the two displacement blocks 33 move synchronously toward or away from each other on the double-threaded sleeve 34. The clamping portion 4 is installed inside the limiting sleeve 32 and close to the double-threaded sleeve 34 to limit the circumferential rotation of the double-threaded sleeve 34 under normal conditions.

[0021] Among them, the inclined support plate 332 is fixedly installed on the upper end of the displacement block 33 and close to the position of the adjustment mounting plate 22. The position of the adjustment mounting plate 22 close to the inclined support plate 332 is set to an inclined surface parallel to the inclined support plate 332. The inclined support plate 332 abuts the inclined surface on the adjustment mounting plate 22. The limiting protrusion 333 is fixedly installed on the end of the displacement block 33 away from the adjustment mounting plate 22. The side surface of the limiting protrusion 333 facing the adjustment mounting plate 22 can abut against the outer wall of the adjustment mounting plate 22, which is used to limit the maximum stroke of the displacement block 33. The top slide 334 is fixedly installed on the upper end of the inclined support plate 332 and close to the center. A sliding groove for matching the top slide 334 is provided on the adjustment mounting plate 22 close to the top slide 334. The top slide 334 slides in the sliding groove on the surface of the adjustment mounting plate 22. The bottom slide 335 is fixedly mounted at the lower end of the displacement block 33, near the center. A slot for matching the bottom slide 335 is provided on the upper end surface of the fixed plate 31, near the bottom slide 335. The slot on the fixed plate 31 extends to the main mounting plate 21, and the bottom slide 335 slides within the slot on the fixed plate 31. The top slide 334 and the bottom slide 335 limit the displacement of the displacement block 33 and restrict its circumferential rotation. The clamping joint 351 is fixedly mounted at one end of the displacement rod 35. The end of the displacement rod 35 away from the clamping joint 351 is inserted into the interior of the double-threaded sleeve 34. The double-threaded sleeve 34 has a through hole for inserting the displacement rod 35. The displacement rod 35 moves linearly along the length of the through hole within the double-threaded sleeve 34. The displacement rod 35 and the double-threaded sleeve 34 remain stationary relative to each other in terms of circumferential rotation. The restraining tube 36 is fixedly mounted at the end of the double-threaded sleeve 34 near the clamping joint 351. The movable snap-fit ​​sleeve 37 is mounted inside the restraining tube 36. One end of the movable snap-fit ​​sleeve 37 is inserted into the restraining tube 36, and the movable snap-fit ​​sleeve 37 slides within the restraining tube 36. The end of the movable snap-fit ​​sleeve 37 inserted into the restraining tube 36 can interlock with the snap-fit ​​joint 351 on the displacement rod 35. The external knob wrench can be fixedly connected to the snap-fit ​​joint 351 on the displacement rod 35 through the movable snap-fit ​​sleeve 37. By rotating the movable snap-fit ​​sleeve 37, the snap-fit ​​joint 351 rotates, thereby controlling the rotation of the double-threaded sleeve 34. A return spring 38 is mounted on the outside of the movable snap-fit ​​sleeve 37. One end of the return spring 38 is fixedly connected to the movable snap-fit ​​sleeve 37, and the other end of the return spring 38 is fixedly connected to the inner wall of the restraining tube 36. The return spring 38 is used to reset the movable snap-fit ​​sleeve 37 within the restraining tube 36, so that the movable snap-fit ​​sleeve 37 is separated from the snap-fit ​​joint 351 under normal conditions.

[0022] After the adjustment mounting plate 22 is placed on the reference mounting platform of the slide body 1, the spacing adjustment assembly 3 at the corresponding position is adjusted according to the flatness of the slide body 1 on the reference mounting platform, and then the flatness of the slide body 1 is adjusted so that the upper end surface of the slide body 1 is in the same plane, thereby reducing the curvature of the slide rail on the slide body 1. When operating the spacing adjustment assembly 3, first, the external knob wrench is inserted into the movable snap-fit ​​sleeve 37 at the corresponding position, and the movable snap-fit ​​sleeve 37 is pushed by the external knob wrench to compress the return spring 38 on the outside of the movable snap-fit ​​sleeve 37, and then the movable snap-fit ​​sleeve 37 is pushed to engage with the snap-fit ​​joint 351 inside the double-threaded sleeve 34, so that when the external knob wrench drives the movable snap-fit ​​sleeve 37 to rotate, it can drive the snap-fit ​​joint 351 and the double-threaded sleeve 34 to rotate. The rotation of the external knob wrench drives the double-threaded sleeve 34 to rotate. Since the threads at both ends of the double-threaded sleeve 34 rotate in opposite directions, when the double-threaded sleeve 34 rotates, the two displacement blocks 33 located on the outside of the double-threaded sleeve 34 will synchronously move in opposite directions. In other words, when the double-threaded sleeve 34 rotates, the two displacement blocks 33 move together or apart synchronously. When the displacement blocks 33 move, the top slide 334 at the upper end of the displacement block 33 slides in the groove on the surface of the adjustment mounting plate 22, while the bottom slide 335 at the lower end of the displacement block 33 slides in the groove on the surface of the fixed plate 31.

[0023] Taking increasing the distance between the main mounting plate 21 and the adjustable mounting plate 22 as an example, by rotating the double-threaded sleeve 34, the two displacement blocks 33 on either side of the limiting sleeve 32 are simultaneously displaced away from the limiting sleeve 32. As the displacement blocks 33 move, the inclined abutment plates 332 move toward the adjustable mounting plate 22. As the inclined abutment plates 332 move, the adjustable mounting plate 22 slides on the surface of the inclined abutment plates 332, pushing the adjustable mounting plate 22 away from the main mounting plate 21. As the distance between the main mounting plate 21 and the adjustable mounting plate 22 gradually increases with the movement of the inclined abutment plates 332, the curved connecting piece 23 between the main mounting plate 21 and the adjustable mounting plate 22 deforms. As the displacement blocks 33 move, the curved connecting piece 23 gradually stretches, and the curvature of the curved connecting piece 23 gradually decreases. The distance between the main mounting plate 21 and the adjustable mounting plate 22 at this position gradually increases, thereby flattening the upper end surface of the slide body 1 on the main mounting plate 21. Similarly, when the distance between the main mounting plate 21 and the adjustment mounting plate 22 is reduced, the two displacement blocks 33 at the adjusted positions move closer to each other, the curvature of the curved connecting piece increases, and the distance between the main mounting plate 21 and the adjustment mounting plate 22 at this position is reduced.

[0024] By changing the distance between the main mounting plate 21 and the adjustment mounting plate 22 at different positions, the flatness of the adjustment mounting plate 22 is changed, the adjustment mounting plate 22 is deformed, and then the adjustment mounting plate 22 is made to fit the surface of the reference mounting platform, effectively reducing the possibility of deformation of the slide body 1 in order to fit the reference mounting platform when installing the slide body 1.

[0025] refer to Figures 7 to 10The clamping part 4 includes a mounting box 41, a side hollow plate 42, a center sleeve 43, a displacement side plate 44, a secondary friction pad 45, a displacement sleeve 46, a fixing rod 47 and a cross link 48. The spacing adjustment assembly 3 also includes a main friction pad 321, which is fixedly mounted inside the limiting sleeve 32 and close to the clamping part 4. The mounting box 41 is fixedly mounted inside the limiting sleeve 32 and close to the center. The side hollow plates 42 are fixedly mounted at both ends of the mounting box 41, and the two side hollow plates 42 are symmetrically distributed about the mounting box 41. A plurality of through grooves are provided on the side surfaces of the side hollow plates 42, which are evenly distributed along the circumference of the side hollow plates 42. The center sleeve 43 is fixedly mounted inside the mounting box 41 and close to the center. The displacement sleeves 46 are sleeved on both ends of the center sleeve 43, and the two displacement sleeves 46 are symmetrically distributed about the center sleeve 43. The displacement side plate 44 is fixedly mounted on the end of the displacement sleeve 46 away from the center sleeve 43, and the two displacement side plates 44 are also symmetrically distributed about the center sleeve 43. The auxiliary friction pad 45 is fixedly mounted on the side surface of the displacement side plate 44 away from the center sleeve 43, and the auxiliary friction pad 45 is mounted on the surface of the displacement side plate 44 near the edge. The displacement side plate 44 is located between the two side hollow plates 42, and one end of the auxiliary friction pad 45 is inserted into the through groove opened on the surface of the side hollow plate 42, and the end of the auxiliary friction pad 45 inserted into the through groove on the surface of the side hollow plate 42 passes through the side hollow plate 42. The main friction pad 321 is fixedly mounted inside the limiting sleeve 32 and near the auxiliary friction pad 45. The main friction pad 321 and the auxiliary friction pad 45 abut against each other. The fixing rod 47 is fixedly mounted inside the center sleeve 43 and near the edge. A cross link 48 is mounted outside the fixed rod 47 and near its center. It consists of two intersecting links, one end of which is slidably connected to the displacement side plate 44 on one side, and the other end of which is slidably connected to the displacement side plate 44 on the other side. The two links are connected by a torsion spring, and the cross link 48 is rotationally connected to the fixed rod 47. When the displacement side plate 44 on one side moves toward the center sleeve 43, the displacement side plate 44 on the other side simultaneously moves toward the center sleeve 43 under the action of the cross link 48. Similarly, when the displacement side plate 44 on one side moves away from the center sleeve 43, the displacement side plate 44 on the other side simultaneously moves away from the center sleeve 43 under the action of the cross link 48. When the displacement side plates 44 move closer together, the torsion spring within the cross link 48 is compressed and deformed.

[0026] Under normal circumstances, the movable snap-in sleeve 37 will abut against the inner wall of the constraint tube 36 due to the squeezing of the return spring 38, and the movable snap-in sleeve 37 will not be engaged with the snap joint 351. At this time, the torsion spring inside the cross-link 48 is in a state of compression deformation, and the cross-link 48 abuts the displacement side plates 44 at both ends against the side hollow plates 42, and the auxiliary friction pads 45 abut against the main friction pads 321. Since the auxiliary friction pads 45 and the main friction pads 321 abut against each other and are in a relatively static state, the double-headed threaded sleeve 34 will not rotate accidentally due to the vibration of the slide body 1 under normal circumstances. When the double-headed threaded sleeve 34 needs to be rotated, the movable snap-in sleeve 37 is pushed to move by the external knob wrench, and then the movable snap-in sleeve 37 pushes the snap joint 351 and the displacement rod 35 to move. As the displacement rod 35 moves, it displaces the displacement side plate 44, which in turn drives the displacement sleeve 46 toward the center sleeve 43. As the displacement side plate 44 moves, the torsion spring within the cross link 48 is further compressed. This, through the change in the angle between the two connecting rods within the cross link 48, drives the displacement side plate 44 on the other side to move, causing both displacement side plates 44 to simultaneously move toward the center sleeve 43. The movement of the displacement side plate 44 disengages the secondary friction pad 45 from contact with the primary friction pad 321. In this state, the displacement rod 35 can normally drive the double-threaded sleeve 34 to rotate, thereby adjusting the position of the displacement block 33 and, consequently, the spacing between the main mounting plate 21 and the adjustment mounting plate 22.

[0027] The working principle of the embodiment of this application: Under normal conditions, the cross link 48 abuts the displacement side plates 44 on both sides against the side hollow plate 42, causing the secondary friction pad 45 to abut against the primary friction pad 321. The static friction between the primary friction pad 321 and the secondary friction pad 45 limits the rotation of the double-threaded sleeve 34. When installing the slide body 1, the height of the adjustable mounting plate 22 at different positions is adjusted according to the flatness of the base mounting platform so that the adjustable mounting plate 22 fits snugly against the base mounting platform surface.

[0028] Inserting the external knob wrench into the movable clamping sleeve 37 stretches the return spring 38 on the outside of the movable clamping sleeve 37, thereby engaging the movable clamping sleeve 37 with the clamping joint 351 at one end of the displacement rod 35. Continuing to push the movable clamping sleeve 37, the movable clamping sleeve 37 pushes the displacement rod 35 to move, which in turn drives the displacement side plate 44 to move. The cross link 48 achieves synchronous displacement of the two displacement side plates 44, causing the displacement side plates 44 on both sides to move closer to the position of the central sleeve 43, and the primary friction pad 321 and the secondary friction pad 45 to disengage.

[0029] At this time, turn the external knob wrench to rotate the double-headed threaded sleeve 34, and then the displacement block 33 is displaced on the double-headed threaded sleeve 34. By sliding the inclined support plate 332 on the surface of the adjustment mounting plate 22, the distance between the main mounting plate 21 and the adjustment mounting plate 22 at this position is changed. By changing the height of the adjustment mounting plate 22 at different positions, the adjustment mounting plate 22 is made to fit the surface of the reference mounting platform, and the installation of the slide body 1 is completed.

[0030] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A track-embedded orthogonal slide suitable for a robot, comprising a slide body (1), characterized in that: A flatness adjustment mechanism (2) is provided at the lower end of the slide body (1), the flatness adjustment mechanism (2) comprising a main body mounting plate (21) fixed to the lower end of the slide body (1), an adjustment mounting plate (22) is provided at the lower end of the main body mounting plate (21), a plurality of groups of curved connecting pieces (23) are provided between the adjustment mounting plate (22) and the main body mounting plate (21), the plurality of groups of curved connecting pieces (23) are evenly distributed along the length direction of the adjustment mounting plate (22), and a spacing adjustment component (3) is provided between the main body mounting plate (21) and the adjustment mounting plate (22) and at a position close to the curved connecting piece (23); The spacing adjustment component (3) comprises a fixing plate (31) fixed to the inner side of the main mounting plate (21); a limiting sleeve (32) is provided on a surface of the fixing plate (31) close to the adjustment mounting plate (22); a double-threaded sleeve (34) is inserted into the limiting sleeve (32); a clamping joint (351) is provided at one end of the double-threaded sleeve (34); the threads at both ends of the double-threaded sleeve (34) have opposite rotation directions; displacement blocks (33) symmetrically distributed with respect to the limiting sleeve (32) are sleeved at both ends of the double-threaded sleeve (34); and a threaded through hole (331) for connecting the double-threaded sleeve (34) is provided on the displacement block (33); One end of the clamping joint (351) inserted into the double-threaded sleeve (34) is provided with a displacement rod (35), and a clamping portion (4) is provided on the displacement rod (35) near the limiting sleeve (32). The clamping portion (4) is located inside the limiting sleeve (32) and is used to clamp the double-threaded sleeve (34).

2. A track-embedded orthogonal slide suitable for a robot according to claim 1, characterized in that: The clamping portion (4) comprises a mounting box (41) fixed inside the limiting sleeve (32); a displacement side plate (44) symmetrically distributed about the mounting box (41) is provided inside the mounting box (41); one of the displacement side plates (44) is fixedly connected to a displacement rod (35) inside the double-threaded sleeve (34); a secondary friction pad (45) is provided on one side surface of the displacement side plate (44); a main friction pad (321) is provided inside the limiting sleeve (32) and close to the secondary friction pad (45); the secondary friction pad (45) abuts against the main friction pad (321).

3. The track-embedded orthogonal slide suitable for a robot according to claim 2, characterized in that: Both ends of the installation box (41) are provided with side hollow plates (42) symmetrically distributed about the installation box (41); the two displacement side plates (44) are located in the interlayer between the two side hollow plates (42); and one end of the auxiliary friction pad (45) close to the side hollow plate (42) is inserted into a through groove provided on the surface of the side hollow plate (42).

4. The track-embedded orthogonal slide suitable for a robot according to claim 3, characterized in that: A central sleeve (43) is provided inside the installation box (41), and displacement sleeves (46) symmetrically distributed about the central sleeve (43) are sleeved at both ends of the central sleeve (43), and the displacement sleeves (46) are slidably connected to the central sleeve (43), and the displacement sleeves (46) are fixedly connected to a surface of a displacement side plate (44) away from the side hollow plate (42), and a fixing rod (47) is provided on the inner side wall of the central sleeve (43), and a cross connecting rod (48) with a built-in torsion spring is sleeved on the outer side of the fixing rod (47), and the two ends of the cross connecting rod (48) are respectively slidably connected to the displacement side plates (44) on both sides.

5. The track-embedded orthogonal slide suitable for a robot according to claim 1, characterized in that: The upper end of the displacement block (33) is provided with an inclined abutment plate (332) abutting against the adjustment mounting plate (22); the position of the adjustment mounting plate (22) close to the inclined abutment plate (332) is arranged as an inclined surface parallel to the surface of the inclined abutment plate (332); and one end of the displacement block (33) away from the adjustment mounting plate (22) is provided with a limiting protrusion (333).

6. The track-embedded orthogonal slide suitable for a robot according to claim 5, characterized in that: The upper end of the inclined abutment plate (332) is provided with a top slide plate (334) engaged with the adjustment mounting plate (22), and the top slide plate (334) slides in a slide groove on the surface of the adjustment mounting plate (22); the lower end of the displacement block (33) is provided with a bottom slide plate (335) engaged with the fixed plate (31), and the bottom slide plate (335) slides in the slide groove on the surface of the fixed plate (31).

7. The track-embedded orthogonal slide suitable for a robot according to claim 1, characterized in that: A restraining cylinder (36) is provided at one end of the double-ended threaded sleeve (34) close to the clamping joint (351), a movable clamping sleeve (37) is provided in the restraining cylinder (36), one end of the movable clamping sleeve (37) is inserted into the restraining cylinder (36), and the end of the movable clamping sleeve (37) inserted into the restraining cylinder (36) can be engaged with the clamping joint (351).

8. The track-embedded orthogonal slide suitable for a robot according to claim 7, characterized in that: One end of the movable clamping sleeve (37) inserted into the restraining cylinder (36) is sleeved with a return spring (38), one end of the return spring (38) is fixedly connected to the movable clamping sleeve (37), and the other end of the return spring (38) is fixedly connected to the inner side wall of the restraining cylinder (36).

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