A track-embedded orthogonal slide suitable for a manipulator

Abstract

The present application relates to the technical field of manipulator devices, specifically to a track-embedded orthogonal slide suitable for manipulators, including a slide body, the lower end of the slide body is provided with a flatness adjustment mechanism, the flatness adjustment mechanism includes a main body mounting plate fixed to the lower end of the slide body, the lower end of the main body mounting plate is provided with an adjustment mounting plate, a plurality of groups of curved connecting plates are provided between the adjustment mounting plate and the main body mounting plate, and the plurality of groups of curved connecting plates are evenly distributed along the length direction of the adjustment mounting plate. The present application is provided with a flatness adjustment mechanism, which effectively reduces the possibility of deformation of the slide body due to the fit of the reference mounting platform when installing the slide body, ensures the flatness of the slide rail on the slide body after installation, reduces the possibility of the slider getting stuck due to the deformation of the slide rail on the slide body, ensures the smoothness of the operation of the manipulator, and improves the effect of the operation of the manipulator.

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 work in environments that are harmful to the human body, thus 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, so that the robots can grab 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 often 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 occupies a small 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] With regard to the above-mentioned related technologies, the slide is usually installed directly on the reference mounting table. The flatness of the surfaces of different reference mounting tables is different, and a gap is likely to appear between the slide and the reference mounting table, resulting in vibration during the movement of the slide. To ensure the stability of the slide during operation, the slide needs to be installed in contact with the surface of the reference mounting table. When the slide is forcibly installed in contact with the surface of the reference mounting table, the slide rail of the slide is likely to be deformed, 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 view of 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, a flatness adjustment mechanism is provided at the lower end of the slide body, 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 at a position close to the curved connecting piece;

[0006] Wherein, the spacing adjustment component comprises a fixing plate fixed to the inner side of the main body mounting plate, a limiting sleeve is provided on the surface of one side of the fixing plate close to the adjusting mounting plate, a double-threaded sleeve is inserted into the limiting sleeve, a clamping joint is provided at one end of the double-threaded sleeve, the threads at both ends of the double-threaded sleeve have opposite rotation directions, displacement blocks symmetrically distributed with respect to the limiting sleeve are sleeved at both ends of the double-threaded sleeve, and a threaded through hole for connecting the double-threaded sleeve is provided on the displacement block;

[0007] A displacement rod is provided at one end of the clamping joint which is inserted into the double-threaded sleeve. A clamping part is provided near the limiting sleeve. The clamping part is located inside the limiting sleeve and is used to clamp the double-threaded sleeve.

[0008] Furthermore, the clamping portion 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.

[0009] 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.

[0010] 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, 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.

[0011] Furthermore, the upper end of the displacement block is provided with an inclined abutment plate abutting 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.

[0012] Furthermore, the upper end of the inclined abutment plate is provided with a top slide engaged with the adjusting mounting plate, and the top slide slides in a slide groove on the surface of the adjusting 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.

[0013] Furthermore, a restraining 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 restraining cylinder, one end of the movable clamping sleeve is inserted into the restraining cylinder, and the end of the movable clamping sleeve inserted into the restraining cylinder can be engaged with the clamping joint.

[0014] Furthermore, a return spring is sleeved on one end of the movable coupling sleeve inserted into the constraint cylinder, one end of the return spring is fixedly connected to the movable coupling sleeve, and the other end of the return spring is fixedly connected to the inner side wall of the constraint cylinder.

[0015] Compared with the known prior art, the technical solution provided by this application has the following beneficial effects:

[0016] 1. The present application sets a flatness adjustment mechanism, sets a main body mounting plate and an adjustment mounting plate at the lower end of the slide body, and adjusts the spacing 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 be fitted on the surface of the reference mounting platform, effectively reducing the possibility of deformation of the slide body due to fitting 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 being stuck due to deformation of the slide rail on the slide body, ensuring the smoothness of the operation of the manipulator, and improving the effect of the operation of the manipulator;

[0017] 2. The present application sets a movable card sleeve and utilizes the fixed connection between the reset spring and the constraint cylinder to make the movable card sleeve disengage from the engagement connection with the card joint under normal conditions. When the movable card sleeve is disengaged from the card joint, only rotating the movable card sleeve cannot directly drive the card joint to rotate, thereby reducing the error rate in the process of using the spacing adjustment component and ensuring the adjustment efficiency of the flatness adjustment mechanism;

[0018] 3. The present application sets a clamping part and utilizes a cross connecting rod to connect the displacement side plates on both sides. By changing the angle of the cross connecting rod, the displacement side plates on both sides are synchronously displaced, and the abutment and disengagement states of the main friction pad and the auxiliary friction pad are quickly switched, thereby reducing the possibility of accidental rotation of the double-headed threaded sleeve due to the vibration of the slide body under normal conditions, reducing the possibility of displacement of the displacement block due to accidental rotation of the double-headed threaded sleeve, and improving the stability of the spacing adjustment component. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the structure of the flatness adjustment mechanism in the embodiment of the present application;

[0021] Figure 3 for Figure 2 The enlarged view of point A in the middle;

[0022] Figure 4 This is a schematic diagram of the structure of the spacing adjustment component in the embodiment of the present application;

[0023] Figure 5 This is a schematic diagram of the structure of the movable card sleeve in the embodiment of the present application;

[0024] Figure 6 This is a schematic diagram of the structure of the displacement block in the embodiment of the present application;

[0025] Figure 7 This is a schematic diagram of the structure of the displacement rod in the embodiment of the present application;

[0026] Figure 8 This is a schematic diagram of the structure of the main friction pad in the embodiment of the present application;

[0027] Fig. 9 This is a schematic diagram of the structure of the clamping part in the embodiment of the present application;

[0028] Fig.10 Schematic diagram of the structure of the cross connecting rod in the embodiment of the present application.

[0029] 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. fixing 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. clamping joint; 36. restraining cylinder; 37. movable clamping 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. fixing rod; 48. cross connecting rod. DETAILED DESCRIPTION

[0030] 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.

[0031] refer to Figures 1 to 3The present application discloses a track-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 component 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 a side surface of the main mounting plate 21 away from the slide body 1, and the adjustment mounting plate 22 is fixedly mounted on an 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 component 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.

[0032] 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 components 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.

[0033] 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 cylinder 36, a movable clamping sleeve 37, a reset spring 38 and a clamping part 4.

[0034] 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 component 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 side 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. The displacement block 33 is provided with a threaded through hole 331, and the displacement block 33 is threadedly connected to the two ends of the double-threaded sleeve 34 through the threaded through hole 331, and the two displacement blocks 33 are symmetrically distributed about the limiting sleeve 32. Since the two sets of threads on the outside of the double-threaded sleeve 34 rotate in opposite directions, the two displacement blocks 33 are synchronously displaced toward or away from each other on the double-threaded sleeve 34. The clamping part 4 is installed inside the limiting sleeve 32 and close to the double-threaded sleeve 34, and is used to limit the circumferential rotation of the double-threaded sleeve 34 under normal conditions.

[0035] The inclined abutment plate 332 is fixedly mounted on the upper end of the displacement block 33 and close to the position of the adjustment mounting plate 22, and the position of the adjustment mounting plate 22 close to the inclined abutment plate 332 is set as an inclined surface parallel to the inclined abutment plate 332. The inclined abutment plate 332 abuts against the inclined surface on the adjustment mounting plate 22. The limiting protrusion 333 is fixedly mounted on the end of the displacement block 33 away from the adjustment mounting plate 22, and the side surface of the limiting protrusion 333 facing the adjustment mounting plate 22 can abut against the outer side wall of the adjustment mounting plate 22, which is used to limit the farthest stroke of the displacement block 33. The top slide 334 is fixedly mounted on the upper end of the inclined abutment plate 332 and close to the center. A slide groove for matching the top slide 334 is provided on the adjustment mounting plate 22 close to the top slide 334, and the top slide 334 slides in the slide groove on the surface of the adjustment mounting plate 22. The bottom slide plate 335 is fixedly mounted at the lower end of the displacement block 33 and near the center. A slide groove for matching the bottom slide plate 335 is provided on the upper end surface of the fixed plate 31 and near the bottom slide plate 335. The slide groove on the fixed plate 31 extends to the main mounting plate 21, and the bottom slide plate 335 slides in the slide groove on the fixed plate 31. The displacement of the displacement block 33 is limited by the top slide plate 334 and the bottom slide plate 335, and the rotation of the displacement block 33 in the circumferential direction is limited. The clamping joint 351 is fixedly mounted on one end of the displacement rod 35, and the end of the displacement rod 35 away from the clamping joint 351 is plugged into the inside of the double-threaded sleeve 34. A through hole for plugging the displacement rod 35 is provided inside the double-threaded sleeve 34. The displacement rod 35 is linearly displaced along the length direction of the through hole inside the double-threaded sleeve 34, and the displacement rod 35 and the double-threaded sleeve 34 are relatively stationary in circumferential rotation. The constraint cylinder 36 is fixedly mounted on one end of the double-threaded sleeve 34 near the clamping joint 351. The movable snap-in sleeve 37 is installed inside the constraint cylinder 36, one end of the movable snap-in sleeve 37 is inserted into the constraint cylinder 36, and the movable snap-in sleeve 37 slides inside the constraint cylinder 36. One end of the movable snap-in sleeve 37 inserted into the constraint cylinder 36 can be interlocked with the snap-in joint 351 on the displacement rod 35, and the external knob wrench can be fixedly connected with the snap-in joint 351 on the displacement rod 35 through the movable snap-in sleeve 37, and the snap-in joint 351 can be rotated by rotating the movable snap-in sleeve 37, thereby controlling the rotation of the double-headed threaded sleeve 34. The reset spring 38 is installed on the outside of the movable snap-in sleeve 37, one end of the reset spring 38 is fixedly connected to the movable snap-in sleeve 37, and the other end of the reset spring 38 is fixedly connected to the inner side wall of the constraint cylinder 36. The reset spring 38 is used to realize the reset of the movable snap-in sleeve 37 in the constraint cylinder 36, so that the movable snap-in sleeve 37 is separated from the snap-in joint 351 under normal conditions.

[0036] After the adjustment mounting plate 22 is placed on the reference mounting platform of the slide body 1, the spacing adjustment component 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, reducing the curvature of the slide rail on the slide body 1. When operating the spacing adjustment component 3, first, insert the external knob wrench into the movable snap-in sleeve 37 at the corresponding position, push the movable snap-in sleeve 37 through the external knob wrench, compress the reset spring 38 on the outside of the movable snap-in sleeve 37, and then push the movable snap-in sleeve 37 to engage with the snap-in joint 351 inside the double-threaded sleeve 34, so that when the external knob wrench drives the movable snap-in sleeve 37 to rotate, it can drive the snap-in joint 351 and the double-threaded sleeve 34 to rotate. The double-threaded sleeve 34 is driven to rotate by rotating the external knob wrench. 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 outside the double-threaded sleeve 34 will be synchronously displaced in opposite directions, that is, when the double-threaded sleeve 34 rotates, the two displacement blocks 33 move together or move away from each other synchronously. When the displacement block 33 moves, the top slide 334 located at the upper end of the displacement block 33 slides in the slide groove on the surface of the adjustment mounting plate 22, and the bottom slide 335 located at the lower end of the displacement block 33 slides in the slide groove on the surface of the fixed plate 31.

[0037] Taking increasing the distance between the main mounting plate 21 and the adjusting mounting plate 22 as an example, by rotating the double-threaded sleeve 34, the two displacement blocks 33 on both sides of the limiting sleeve 32 are synchronously displaced in the direction away from the limiting sleeve 32. During the movement of the displacement block 33, the inclined plate 332 moves toward the position of the adjusting mounting plate 22. While the inclined plate 332 moves, the adjusting mounting plate 22 slides on the surface of the inclined plate 332, and the inclined plate 332 pushes the adjusting mounting plate 22 to move in the direction away from the main mounting plate 21. Since the distance between the main mounting plate 21 and the adjusting mounting plate 22 gradually increases with the movement of the inclined plate 332, the curved connecting piece 23 between the main mounting plate 21 and the adjusting mounting plate 22 is deformed, and the curved connecting piece 23 gradually stretches during the displacement of the displacement block 33, and the curvature of the curved connecting piece 23 gradually decreases. The distance between the main mounting plate 21 and the adjusting mounting plate 22 at this position gradually increases, thereby making the upper end surface of the slide body 1 on the main mounting plate 21 tend to be flat. Similarly, when the distance between the main mounting plate 21 and the adjustable mounting plate 22 is reduced, the two displacement blocks 33 at the adjusted position move closer to each other, the curvature of the curved connecting piece increases, and the distance between the main mounting plate 21 and the adjustable mounting plate 22 at this position is reduced.

[0038] By changing the spacing 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, thereby effectively reducing the possibility of deformation of the slide body 1 due to fitting the reference mounting platform when installing the slide body 1.

[0039] 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 connecting rod 48. The spacing adjustment component 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 uniformly distributed along the circumference of the side hollow plates 42 are provided on the side surface 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 at 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 one 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 and close to the edge. The displacement side plate 44 is located between the two side hollow plates 42, 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 one 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 close to the auxiliary friction pad 45, and 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 close to the edge. The cross link 48 is sleeved on the outside of the fixed rod 47 and close to the center. The cross link 48 is configured as two cross-linked 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 position of the central sleeve 43, the displacement side plate 44 on the other side moves synchronously toward the position of the central sleeve 43 under the action of the cross link 48. Similarly, when the displacement side plate 44 on one side moves toward a position away from the central sleeve 43, the displacement side plate 44 on the other side moves synchronously toward a position away from the central sleeve 43 under the action of the cross link 48. When the displacement side plates 44 are brought closer to each other, the torsion spring inside the cross link 48 is compressed to a deformed state.

[0040] Under normal conditions, the movable snap-fit ​​sleeve 37 will abut against the inner wall of the constraint tube 36 due to the extrusion of the reset spring 38, and the movable snap-fit ​​sleeve 37 is not 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 plate 42, and the auxiliary friction pad 45 abuts against the main friction pad 321. Since the auxiliary friction pad 45 and the main friction pad 321 abut against each other and are in a relatively static state, the double-headed threaded sleeve 34 will not rotate unexpectedly due to the vibration of the slide body 1 under normal conditions. When the double-headed threaded sleeve 34 needs to be rotated, the movable snap-fit ​​sleeve 37 is pushed to displace by the external knob wrench, so that the movable snap-fit ​​sleeve 37 pushes the snap joint 351 and the displacement rod 35 to move. When the displacement rod 35 moves, it drives the displacement side plate 44 to move, and the displacement side plate 44 drives the displacement sleeve 46 to move toward the position of the center sleeve 43. During the movement of the displacement side plate 44, the torsion spring inside the cross link 48 is further compressed, and the displacement side plate 44 on the other side is driven to move through the change of the angle between the two connecting rods inside the cross link 48, and the two displacement side plates 44 are synchronously moved toward the position of the center sleeve 43. Through the movement of the displacement side plate 44, the secondary friction pad 45 is separated from the contact with the main friction pad 321. In this state, the displacement rod 35 can normally drive the double-threaded sleeve 34 to rotate, and then adjust the position of the displacement block 33, thereby adjusting the spacing between the main mounting plate 21 and the adjustment mounting plate 22.

[0041] The working principle of the embodiment of this application:

[0042] Under normal conditions, the cross link 48 abuts the displacement side plates 44 on both sides against the side hollow plate 42, so that the secondary friction pad 45 abuts against the main friction pad 321, and the rotation of the double-threaded sleeve 34 is limited by the static friction between the main friction pad 321 and the secondary friction pad 45. When installing the slide body 1, the height of the adjustment mounting plate 22 at different positions is adjusted according to the flatness of the reference mounting platform, so that the adjustment mounting plate 22 can fit on the surface of the reference mounting platform.

[0043] Insert the external knob wrench into the movable clamping sleeve 37 to stretch the return spring 38 outside the movable clamping sleeve 37, so that the movable clamping sleeve 37 is engaged with the clamping joint 351 at one end of the displacement rod 35. Continue to push the movable clamping sleeve 37 to push the displacement rod 35 to move, so that the displacement rod 35 drives the displacement side plate 44 to move, and the two displacement side plates 44 are synchronously displaced through the cross connecting rod 48, so that the displacement side plates 44 on both sides are close to the position of the central sleeve 43, and the main friction pad 321 is disengaged from the auxiliary friction pad 45.

[0044] At this time, turn the external knob wrench to rotate the double-headed threaded sleeve 34, thereby causing the displacement block 33 to move on the double-headed threaded sleeve 34, and by sliding the inclined abutment plate 332 on the surface of the adjusting mounting plate 22, the distance between the main mounting plate 21 and the adjusting mounting plate 22 at this position is changed. By changing the height of the adjusting mounting plate 22 at different positions, the adjusting mounting plate 22 is made to fit the surface of the reference mounting platform, thereby completing the installation of the slide body 1.

[0045] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that 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); 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); and the mounting box (41) is provided with a plurality of displacement side plates (44) disposed on the mounting box (41); 1) is provided with a central sleeve (43) inside, 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.

2. A track-embedded orthogonal slide suitable for a robot according to claim 1, 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).

3. The track-embedded orthogonal slide suitable for a robot according to claim 2, 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).

4. The track-embedded orthogonal slide suitable for a robot according to claim 3, 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).

5. 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).

6. The track-embedded orthogonal slide suitable for a robot according to claim 5, 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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