Motion compensation device and conveying equipment

Abstract

The invention discloses a motion compensation device and conveying equipment, and relates to the technical field of conveying equipment.The conveying equipment comprises a workbench capable of moving in the first linear direction, the motion compensation device comprises a first abutting block and a lifting conversion assembly, and the first abutting block is fixedly connected to the bottom of the workbench; the bottom of the first abutting block is provided with a first inclined plane and a first horizontal plane, the lifting conversion assembly comprises a first movable part, a first pulley, a first elastic part, a first driving device and a linkage mechanism, when the first movable part descends, the linkage mechanism drives the first driving device to ascend to a first position, and when the first movable part ascends, the linkage mechanism drives the second driving device to ascend to a second position; the linkage mechanism drives the first driving device to descend to the second position, so that conversion of the lifting position is achieved, the output end of the first driving device extends out to provide secondary following type thrust for the workbench, the effect of motion compensation can be achieved, and the stroke precision of the workbench can be stabilized.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation equipment, and particularly to a motion compensation device and a conveying equipment. Background Art

[0002] At present, compared with servo motors or stepper motors, cylinders have lower costs. Therefore, cylinders are usually used to push a workbench to move in a straight line. For cylinders with longer strokes, as the usage time accumulates, the stroke accuracy of the cylinders will gradually decrease, making it difficult for the cylinders to push the workpieces in place. Factors such as wear of the sealing rings inside the cylinders, decrease in the air pressure of the pneumatic system, air leakage in the pneumatic system pipelines or other components will all lead to a decrease in the stroke accuracy of the cylinders. If continuous accurate positioning is desired, it is not easy to achieve with only conventional cylinder connections. Moreover, if the cylinders in use have been discontinued or there are no relevant spare parts, this problem cannot be solved by replacing the cylinders. Summary of the Invention

[0003] The present invention aims to at least solve the technical problems existing in the prior art. For this purpose, the present invention provides a motion compensation device that can play a role in motion compensation, thereby improving the stroke accuracy of the workbench.

[0004] The present invention also provides a conveying equipment with the above-mentioned motion compensation device.

[0005] According to a first aspect embodiment of the present invention, the motion compensation device is applied to a conveying equipment, the conveying equipment includes a workbench that can move in a first straight line direction, and the motion compensation device includes: A first abutting block fixedly connected to the bottom of the workbench, and a first inclined surface and a first horizontal surface are arranged in sequence along the first straight line direction at the bottom of the first abutting block; A lifting conversion assembly includes a first movable member, a first pulley, a first elastic member, a first driving device and a linkage mechanism. The first elastic member is used to provide a restoring force in the up and down direction to the first movable member. The first movable member is connected to the first pulley. When the upper end of the first pulley abuts against the first inclined surface and the workbench moves in the first straight line direction, the first movable member makes a lifting motion. The linkage mechanism links the first movable member and the first driving device. When the first movable member descends, the linkage mechanism drives the first driving device to rise to a first position. When the first movable member ascends, the linkage mechanism drives the first driving device to descend to a second position. At the first position, the upper end of the first pulley abuts against the first horizontal surface, and the output end of the first driving device extends out and can push the first abutting block to drive the workbench to perform motion compensation in the first straight line direction. At the second position, the first driving device is located below the first abutting block to avoid the first abutting block.

[0006] The motion compensation device according to the embodiment of the first aspect of the present invention has at least the following beneficial effects: during the movement of the workbench along the first linear direction, when the workbench gradually approaches the lifting conversion assembly, the first inclined surface of the first abutting block located at the bottom of the workbench will abut against the top of the first pulley. If the workbench continues to move along the first linear direction, the first inclined surface forces the first pulley to descend, and at the same time, the linkage mechanism drives the first driving device to rise. Eventually, the first driving device rises to the first position, and the top of the first pulley abuts against the first horizontal surface of the first abutting block, so that the first driving device is maintained at the first position. Then, the output end of the first driving device extends out and contacts the first abutting block, so that the first driving device can push the workbench and provide a secondary follow-up thrust to the workbench, playing a role in motion compensation, enabling the workbench to move into place as much as possible, thereby improving the stroke accuracy of the workbench. At this time, since the first horizontal surface is horizontally arranged, even if the workbench moves slightly, the height position of the first pulley will not change, so that the linkage mechanism will not drive the first driving device to move up and down; when the workbench gradually moves away from the lifting conversion assembly, the first inclined surface will gradually move away from the first pulley. Due to the action of the first elastic member, the first movable member will gradually reset and rise. Eventually, the first movable member rises to the highest position, and the linkage mechanism drives the first driving device to descend to the second position. At this time, the first driving device will avoid the first abutting block and not hinder the movement of the workbench, allowing the workbench to reset to the initial position.

[0007] According to some embodiments of the present invention, the linkage mechanism includes a second movable member, a second pulley, a first rack, a second rack, a first gear, a second gear, a second elastic member and a second abutting block. The first rack is fixedly connected to the first movable member, the first gear meshes with the first rack, the second gear is coaxially arranged with the first gear and rotates synchronously, the second rack is movable along the first linear direction, the second rack meshes with the second gear, the second movable member is movable up and down, the first driving device is fixedly connected to the second movable member, the second pulley is connected to the second movable member, the second elastic member is used to provide a restoring force in the up and down direction to the second movable member, the second abutting block is fixedly connected to the second rack, and the top of the second abutting block is provided with a second inclined surface and a second horizontal surface arranged in sequence along the first linear direction. At the first position, the lower end of the second pulley abuts against the second horizontal surface, and at the second position, the lower end of the second pulley abuts against the second inclined surface.

[0008] According to some embodiments of the present invention, the linkage mechanism further includes a guide seat. The guide seat is provided with a guide groove extending in the up and down direction. The first movable member is slidably connected to the guide groove. The first elastic member abuts against the bottom of the first movable member and is located within the guide groove.

[0009] According to some embodiments of the present invention, the lifting conversion assembly further includes a fixed seat. The fixed seat is located below the second movable member. The fixed seat is provided with a guide hole extending in the up and down direction. The lower end of the second movable member is provided with a guide shaft. The guide shaft is slidably connected to the guide hole. The second elastic member is a spring. The second elastic member is sleeved on the outer periphery of the guide shaft.

[0010] According to some embodiments of the present invention, the lifting conversion assembly further includes a base. The base is provided with a chute extending in the first linear direction. The second rack and the second abutting block are both slidably connected to the chute. The chute includes a first section and a second section arranged in sequence along the first linear direction. The width of the second rack corresponds to the width of the first section. The width of the second abutting block corresponds to the width of the second section. The width of the first section is smaller than the width of the second section to limit the stroke range of the second abutting block.

[0011] According to some embodiments of the present invention, the second abutting block and the second rack are fixedly connected by a fastener. The side wall of the second abutting block is provided with a groove. The inner wall of the groove is provided with a fastening hole. The fastener passes through the fastening hole. The groove is used to expose the fastener.

[0012] According to some embodiments of the present invention, the number of the lifting conversion assemblies is two. The two lifting conversion assemblies are symmetric to each other and are arranged oppositely along the first linear direction. The motion compensation device further includes a third abutting block. The third abutting block is fixedly connected to the bottom of the workbench. The third abutting block is provided with a third inclined surface and a third horizontal surface. The third inclined surface and the third horizontal surface are used to abut against the top of the first pulley of the other lifting conversion assembly.

[0013] According to some embodiments of the present invention, the motion compensation device further includes a position sensor. The position sensor is used to detect whether the first driving device is in the first position.

[0014] The conveying device according to the second aspect embodiment of the present invention includes: A workbench; A second driving device for driving the workbench to move along the first linear direction; The motion compensation device according to the first aspect embodiment.

[0015] The conveying device according to the embodiment of the present invention includes the motion compensation device of the first aspect embodiment, and thus has at least the above beneficial effects, which will not be elaborated herein.

[0016] According to some embodiments of the present invention, the conveying device further includes a guide rail extending along the first linear direction. A slider is provided at the bottom of the workbench, and the slider is slidably connected to the guide rail. A buffer is provided on the guide rail.

[0017] The additional aspects and advantages of the present invention will be partly given in the following description, partly become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the drawings and embodiments, where: Figure 1 is a schematic structural diagram of the conveying device according to some embodiments of the present invention; Figure 2 is an exploded view of the conveying device according to some embodiments of the present invention; Figure 3 is a front view of the lifting conversion assembly of the motion compensation device according to some embodiments of the present invention; Figure 4 is a schematic diagram of the state during the forward movement of the workbench of the conveying device according to some embodiments of the present invention (the first driving device of the rear lifting conversion assembly is in the second position); Figure 5 is a schematic diagram of the state during the forward movement of the workbench of the conveying device according to some embodiments of the present invention (the first driving device of the front lifting conversion assembly is in the second position); Figure 6 is a schematic diagram of the state during the forward movement of the workbench of the conveying device according to some embodiments of the present invention (the first driving device of the front lifting conversion assembly is in the first position); Figure 7 is a schematic structural diagram of the motion compensation device and the workbench of the conveying device according to some embodiments of the present invention; Figure 8 is an exploded view of the motion compensation device according to some embodiments of the present invention; Figure 9 is a cross-sectional view of the motion compensation device according to some embodiments of the present invention; Figure 10 is a schematic structural diagram of the second abutting block, the second rack and the base of the motion compensation device according to some embodiments of the present invention; Figure 11 is a top view of the second abutting block, the second rack and the base of the motion compensation device according to some embodiments of the present invention; Figure 12Exploded view of the second abutting block and the second rack of the motion compensation device according to some embodiments of the present invention.

[0019] Reference numerals: Motion compensation device 1000; Conveying device 2000; Workbench 100, first abutting block 110, first inclined surface 111, first horizontal surface 112, third abutting block 120, third inclined surface 121, third horizontal surface 122, slider 130, guide rail 140, connecting piece 150; Lifting conversion assembly 200, first movable member 210, first pulley 220, first elastic member 230, first driving device 240; Linkage mechanism 300, second movable member 310, second pulley 320, first rack 330, second rack 340, first fastening hole 341, first gear 350, second gear 360, second elastic member 370, second abutting block 380, second inclined surface 381, second horizontal surface 382, groove 383, second fastening hole 384, guide seat 390, guide groove 391, fixed seat 3010, guide shaft 3011, base 3020, chute 3021, first section 3022, second section 3023; Second driving device 400. Detailed implementation manners

[0020] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0021] Refer to Figure 1 and Figure 2 As shown, the conveying device 2000 provided by the embodiment of the present invention includes a workbench 100, a second driving device 400 and a motion compensation device 1000. The workbench 100 is used to carry workpieces, and the second driving device 400 is used to drive the workbench 100 to reciprocate along the first straight line direction. The second driving device 400 can be a cylinder with a large stroke, and the accuracy of the second driving device 400 may decrease after long-term use.

[0022] Refer to Figure 2As shown, in some embodiments, the conveying device 2000 further includes a guide rail 140 extending along a first straight line direction. A slider 130 is fixedly connected to the bottom of the workbench 100. The slider 130 is slidably connected to the guide rail 140. A buffer (not shown in the drawings) is provided on the guide rail 140. The buffer can be arranged at the front end or the rear end of the guide rail 140, which can be understood as the buffer being located at the limit position of the slider 130 corresponding to the guide rail 140, thereby playing a role in buffering and positioning the slider 130.

[0023] Referring to Figure 3 and Figure 4 As shown, the motion compensation device 1000 can be understood as a structure for circular feedback following to compensate the stroke accuracy of the cylinder, mainly playing a role in motion compensation for the workbench 100. The motion compensation device 1000 includes a first abutting block 110 and a lifting conversion assembly 200. Referring to Figure 4 As shown, the first abutting block 110 is fixedly connected to the bottom of the workbench 100. The first abutting block 110 extends along the first straight line direction. A first inclined surface 111 and a first horizontal surface 112 are arranged in sequence, one in front and one behind, along the first straight line direction at the bottom of the first abutting block 110. The first horizontal surface 112 is located at the lowest position. It can be understood that the first abutting block 110 is a trapezoidal block structure.

[0024] Referring to Figure 3 As shown, the lifting conversion assembly 200 includes a first movable member 210, a first pulley 220, a first elastic member 230, a first driving device 240, and a linkage mechanism 300. The first movable member 210 can move up and down. The first elastic member 230 can be a spring or a spring sheet. The first elastic member 230 is used to provide a restoring force in the up and down direction for the first movable member 210. The first movable member 210 is connected to the first pulley 220. The first pulley 220 moves up and down together with the first movable member 210. The first driving device 240 can be a cylinder with a short stroke or a circular following clip. The linkage mechanism 300 links the first movable member 210 and the first driving device 240. The function of the lifting conversion assembly 200 is to realize the lifting position conversion between the first movable member 210 and the first driving device 240. It can be simply understood that when the first movable member 210 rises, the first driving device 240 descends, and when the first movable member 210 descends, the first driving device 240 rises.

[0025] Specifically, when the workbench 100 is in the initial position, that is, when the workbench 100 is in the rearmost position, at this time, the first driving device 240 is in the second position, that is, the first driving device 240 is in the lowest position, and the first driving device 240 is located below the workbench 100, so as to avoid the workbench 100. When the second driving device 400 starts to work, the second driving device 400 drives the workbench 100 to move forward along the first straight line direction. When the workbench 100 moves toFigure 5 When in the position in , the upper end of the first pulley 220 will abut against the first inclined surface 111. If the workbench 100 continues to move forward, the first pulley 220 will move downward under the pressure of the first inclined surface 111. Due to the action of the linkage mechanism 300, the linkage mechanism 300 will drive the first driving device 240 to gradually rise. When the workbench 100 moves to Figure 6 the position in , the output end of the second driving device 400 extends more and the motion accuracy is lower. At this time, the upper end of the first pulley 220 abuts against the first horizontal surface 112, the first pulley 220 no longer descends, and the first driving device 240 no longer rises. The first driving device 240 is located at the first position, that is, the first driving device 240 is in the highest position. When the output end of the first driving device 240 extends, it can contact the first abutting block 110, so that the first driving device 240 can push the workbench 100 forward for a certain distance, providing a secondary follow-up thrust to the workbench 100, so as to realize the motion compensation function, thereby compensating for the stroke drift of the second driving device 400, thereby stabilizing the stroke accuracy. The stroke of the first driving device 240 is small and the accuracy is high, which can make the workbench 100 move in place.

[0026] The structural composition of the linkage mechanism 300 will be explained below. Refer to Figure 3 and Figure 4 As shown in , the linkage mechanism 300 includes a second movable member 310, a second pulley 320, a first rack 330, a second rack 340, a first gear 350, a second gear 360 (refer to Figure 4 ), a second elastic member 370 and a second abutting block 380. The first rack 330 extends in the up and down direction, the first rack 330 is fixedly connected to the first movable member 210, the first gear 350 meshes with the first rack 330, the second gear 360 is coaxially arranged with the first gear 350, and the second gear 360 rotates synchronously with the first gear 350. The second rack 340 extends in the first linear direction, the second rack 340 can move along the first linear direction, the second rack 340 meshes with the second gear 360, the second movable member 310 can move in the up and down direction, the first driving device 240 is fixedly connected to the second movable member 310, the second pulley 320 is fixedly connected to the second movable member 310, the second pulley 320 moves up and down together with the second movable member 310, the second elastic member 370 is used to provide a restoring force in the up and down direction for the second movable member 310, the second abutting block 380 is fixedly connected to the second rack 340, and the top of the second abutting block 380 is provided with a second inclined surface 381 and a second horizontal surface 382 arranged in sequence along the first linear direction. It can be understood that the second abutting block 380 is a trapezoidal block structure.

[0027] The working principle of the linkage mechanism 300 will be described below. When the first pulley 220 is pressed downward, the first rack 330 follows the first movable member 210 to descend together, which drives the first gear 350 and the second gear 360 to rotate together, and the second gear 360 drives the second rack 340 to move along the first straight line direction, and the second abutment block 380 moves along the first straight line direction together with the second rack 340, so that the second abutment block 380 gradually approaches the second pulley 320. At this time, due to the elastic force of the second elastic member 370, the lower end of the second pulley 320 is Keeping in contact with the second inclined surface 381 of the second abutting block 380, the second inclined surface 381 can lift the second pulley 320 upward, so that the first driving device 240 moves upward. When the lower end of the second pulley 320 abuts against the second horizontal surface 382 of the second abutting block 380, even if the second rack 340 moves slightly along the first straight line direction, the second pulley 320 will not rise again. At this time, the first driving device 240 is located in the first position, that is, the first driving device 240 is in the highest position. Similarly, when the first pulley 220 moves upward, it can be concluded that the first driving device 240 will move downward. In short, the linkage mechanism 300 mainly realizes the lifting position conversion of the first pulley 220 and the first driving device 240 through the combination of structures such as racks, gears, pulleys and inclined surfaces.

[0028] It should be noted that the linkage mechanism 300 of this embodiment is a purely mechanical structure and does not require an electronic control device. This can reduce the control difficulty and has a low manufacturing cost. At the same time, the linkage movement accuracy of the linkage mechanism 300 is also high, which can ensure that the lifting and lowering position switching of the first pulley 220 and the first drive device 240 is more accurate.

[0029] In some other embodiments, the linkage mechanism 300 can also be set to a structure similar to a seesaw. For example, the linkage mechanism 300 includes a rotatable cross bar, and the first movable member 210 and the first drive device 240 are rotatably connected to the opposite ends of the cross bar respectively. When the first movable member 210 moves downward, the first movable member 210 pushes one end of the cross bar downward, so that the other end of the cross bar is tilted, and the tilted end of the cross bar pushes the first drive device 240 upward to move upward. When the first movable member 210 moves upward, the first movable member 210 pushes one end of the cross bar upward, so that the other end of the cross bar falls, and the fallen end of the cross bar pushes the first drive device 240 downward to move downward, thereby realizing the lifting and lowering position conversion of the first movable member 210 and the first drive device 240.

[0030] Reference Figure 2 and Figure 3As shown, in some embodiments, the number of lifting and converting components 200 may be two. The two lifting and converting components 200 are symmetric to each other and are arranged opposite to each other in the front and back along the first straight line direction. The motion compensation device 1000 further includes a third abutting block 120. The third abutting block 120 is fixedly connected to the bottom of the workbench 100. The third abutting block 120 is provided with a third inclined surface 121 and a third horizontal surface 122 arranged in sequence along the first straight line direction. The principle of the third abutting block 120 is the same as that of the first abutting block 110. The first abutting block 110 is used to trigger interaction with the lifting and converting component 200 at the front side position, and the third abutting block 120 is used to trigger interaction with the lifting and converting component 200 at the rear side position.

[0031] The working process of the lifting and converting component 200 at the rear side position is described below. When the second driving device 400 drives the workbench 100 to move backward from the Figure 6 position to the Figure 4 position, the first pulley 220 contacts the third inclined surface 121 of the third abutting block 120. The third inclined surface 121 will force the first pulley 220 to move downward. Referring to Figure 3 and Figure 4 , the first pulley 220 drives the first rack 330 to move downward. The first rack 330 drives the first gear 350 and the second gear 360 to rotate synchronously. The second gear 360 drives the second rack 340 to move forward. Under the elastic force of the second elastic member 370, the lower end of the second pulley 320 abuts against the second inclined surface 381 of the second abutting block 380. During the process that the second rack 340 drives the second abutting block 380 to move forward, the second pulley 320 is forced to move upward, and the first driving device 240 also moves upward together. Finally, when the first driving device 240 rises to the highest position (i.e., the first position), the first pulley 220 abuts against the first horizontal surface 112, and the second pulley 320 abuts against the second horizontal surface 382. At this time, the first pulley 220 no longer descends, and the first driving device 240 can be kept at the highest position. When the output end of the first driving device 240 extends, it can contact the third abutting block 120, thereby pushing the workbench 100 to move backward to achieve the motion compensation function.

[0032] It should be noted that since the stroke of the second driving device 400 is relatively large, after the second driving device 400 is used for a long time, when the output end of the second driving device 400 moves near the front and rear extreme positions, the movement accuracy is relatively low. If only relying on the second driving device 400 to output power, it is easy to cause the workbench 100 to not move in place. In the above embodiment, the lifting conversion components 200 are arranged at two positions, one in front and one behind, to achieve movement compensation for the workbench 100 at the front and rear positions, so as to ensure that the workbench 100 can move in place. In this way, even if the accuracy of the second driving device 400 decreases, the second driving device 400 can still be continued to be used without replacing the second driving device 400, which can reduce costs.

[0033] Referring to Figure 8 and Figure 9 As shown in, in some embodiments, the linkage mechanism 300 further includes a guide seat 390. The guide seat 390 is provided with a guide groove 391 extending in the up and down direction. The guide groove 391 can be a T-shaped groove. The first movable member 210 is slidably connected to the guide groove 391. The first movable member 210 is inserted into the guide groove 391 from top to bottom, which is relatively convenient for installation. The first elastic member 230 abuts against the bottom of the first movable member 210, and the first elastic member 230 is located in the guide groove 391, which can play a limiting role on the first elastic member 230 and can prevent the first elastic member 230 from detaching from the first movable member 210. The connection between the first elastic member 230 and the first movable member 210 is relatively stable, ensuring the stable operation of the mechanism.

[0034] Referring to Figure 4 and Figure 7 As shown in, in some embodiments, the workbench 100 is connected to the output end of the second driving device 400 through a connecting member 150. The output end of the first driving device 240 can push the workbench 100 to achieve movement compensation by pushing the connecting member 150. The contact area between the connecting member 150 and the output end of the first driving device 240 is relatively large.

[0035] Referring to Figure 7 and Figure 8As shown, in some embodiments, the lifting and converting assembly 200 further includes a fixed seat 3010 which is fixedly arranged. The fixed seat 3010 is located below the second movable member 310. The fixed seat 3010 is provided with a guiding hole extending in the up and down direction. The lower end of the second movable member 310 is provided with a guiding shaft 3011 which is inserted into the guiding hole, and the guiding shaft 3011 is slidably connected with the guiding hole. In this way, the precision of the up and down movement of the second movable member 310 can be improved. The second elastic member 370 is a spring. The second elastic member 370 is sleeved on the outer periphery of the guiding shaft 3011. The lower end of the second elastic member 370 is fixedly connected with the upper end of the fixed seat 3010, and the upper end of the second elastic member 370 is fixedly connected with the lower end of the second movable member 310. When the second movable member 310 moves upward, the second movable member 310 stretches the second elastic member 370. When the second movable member 310 moves downward, the second movable member 310 compresses the second elastic member 370.

[0036] Referring to Figure 8 , Figure 10 and Figure 11 As shown, in some embodiments, the lifting and converting assembly 200 further includes a base 3020 which is fixedly arranged. The top of the base 3020 is provided with a sliding groove 3021 extending in the first linear direction. Both the second rack 340 and the second abutting block 380 are slidably connected to the sliding groove 3021, ensuring that the second rack 340 and the second abutting block 380 will not shift in the left and right directions. The sliding groove 3021 further includes a first section 3022 and a second section 3023 arranged in sequence along the first linear direction. The width of the first section 3022 is W1, and the width of the second section 3023 is W2, and W1 is greater than W2. The width of the second rack 340 corresponds to the width of the first section 3022, and the width of the second abutting block 380 corresponds to the width of the second section 3023. Since the width W1 of the first section 3022 is smaller, the second abutting block 380 cannot enter the first section 3022. In this way, the stroke range of the second abutting block 380 moving along the first linear direction can be restricted. The advantage of such an arrangement is that: since the first movable member 210 compresses the first elastic member 230 at the bottom position, the first movable member 210 will have a tendency to move upward. When the second abutting block 380 abuts against the end wall surface of the first section 3022, the upward movement of the first rack 330 can be restricted. In this way, the first elastic member 230 can be kept in a compressed state, which can ensure that the first elastic member 230 is in close contact with the first movable member 210, and the connection is relatively stable and the operation is relatively stable.

[0037] Referring to Figure 12As shown, in some embodiments, the second abutting block 380 and the second rack 340 are fixedly connected by a fastener. The fastener can be a screw or a rivet, etc. A groove 383 is provided on the side wall of the second abutting block 380, and a fastening hole is provided on the inner wall of the groove 383. The fastener passes through the fastening hole, and the groove 383 can expose the fastener, so that an installation tool can be inserted into the groove 383, thereby facilitating the installation of the fastener.

[0038] In some other embodiments, the motion compensation device 1000 further includes a position sensor for detecting whether the first driving device 240 is in the first position. When the position sensor detects that the first driving device 240 is in the first position, it indicates that the first driving device 240 has moved in place. At this time, the output end of the first driving device 240 can be controlled to extend, so that the first driving device 240 can accurately push the workbench 100 to complete the motion compensation.

[0039] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0040] In the description of the present invention, the meaning of "a number of" is one or more, the meaning of "a plurality of" is two or more, and understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0041] In the description of the present invention, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0042] The embodiments of the present invention have been described in detail above with reference to the drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present invention.

Claims

1. A motion compensation device, applied to a conveying device, wherein the conveying device comprises a workbench capable of moving along a first straight line direction, characterized in that: The motion compensation device comprises: A first abutment block, fixedly connected to the bottom of the workbench, wherein the bottom of the first abutment block is provided with a first inclined surface and a first horizontal surface sequentially arranged along the first straight line direction; The lifting conversion component includes a first movable part, a first pulley, a first elastic part, a first driving device and a linkage mechanism, wherein the first elastic part is used to provide a reset force in the up and down directions to the first movable part, the first movable part is connected to the first pulley, when the upper end of the first pulley abuts against the first inclined surface and the workbench moves along the first straight line direction, the first movable part performs a lifting movement, and the linkage mechanism links the first movable part and the first driving device, when the first movable part descends, the linkage mechanism drives the first driving device to rise to a first position, and when the first movable part rises, the linkage mechanism drives the first driving device to descend to a second position, in the first position, the upper end of the first pulley abuts against the first horizontal plane, the output end of the first driving device extends out and can push the first abutting block to drive the workbench to perform motion compensation along the first straight line direction, and in the second position, the first driving device is located below the first abutting block to avoid the first abutting block.

2. The motion compensation device according to claim 1, characterized in that: The linkage mechanism includes a second movable member, a second pulley, a first rack, a second rack, a first gear, a second gear, a second elastic member and a second abutment block, the first rack is fixedly connected to the first movable member, the first gear is meshed with the first rack, the second gear is coaxially arranged with the first gear and rotates synchronously with the first gear, the second rack can be movable along the first straight line direction, the second rack is meshed with the second gear, the second movable member can move up and down, the first driving device is fixedly connected to the second movable member, the second pulley is connected to the second movable member, the second elastic member is used to provide a reset force in the up and down directions to the second movable member, the second abutment block is fixedly connected to the second rack, and the top of the second abutment block is provided with a second inclined surface and a second horizontal surface arranged in sequence along the first straight line direction. In the first position, the lower end of the second pulley abuts against the second horizontal surface, and in the second position, the lower end of the second pulley abuts against the second inclined surface.

3. The motion compensation device according to claim 2, characterized in that: The linkage mechanism further comprises a guide seat, the guide seat is provided with a guide groove extending in the up-down direction, the first movable member is slidably connected to the guide groove, and the first elastic member abuts against the bottom of the first movable member and is located in the guide groove.

4. The motion compensation device according to claim 2, characterized in that: The lifting conversion assembly also includes a fixed seat, which is located below the second movable member. The fixed seat is provided with a guide hole extending in the up and down directions. The lower end of the second movable member is provided with a guide shaft, which is slidably connected to the guide hole. The second elastic member is a spring, and the second elastic member is sleeved on the outer periphery of the guide shaft.

5. The motion compensation device according to claim 2, characterized in that: The lifting conversion assembly also includes a base, the base is provided with a slide groove extending along the first straight line direction, the second rack and the second abutment block are both slidably connected to the slide groove, the slide groove includes a first section and a second section arranged in sequence along the first straight line direction, the width of the second rack corresponds to the width of the first section, the width of the second abutment block corresponds to the width of the second section, and the width of the first section is smaller than the width of the second section to limit the travel range of the second abutment block.

6. The motion compensation device according to claim 2, characterized in that: The second abutment block is fixedly connected to the second rack by a fastener, a side wall of the second abutment block is provided with a groove, an inner wall of the groove is provided with a fastening hole, the fastener is passed through the fastening hole, and the groove is used to expose the fastener.

7. The motion compensation device according to claim 1, characterized in that: There are two lifting conversion components, which are symmetrical to each other and arranged opposite to each other along the first straight line direction. The motion compensation device also includes a third abutment block, which is fixedly connected to the bottom of the workbench. The third abutment block is provided with a third inclined surface and a third horizontal surface, and the third inclined surface and the third horizontal surface are used to abut against the top of the first pulley of the other lifting conversion component.

8. The motion compensation device according to claim 1, characterized in that: The motion compensation device further includes a position sensor, and the position sensor is used to detect whether the first driving device is in the first position.

9. A conveying device, characterized in that: include: Workbench; A second driving device, used for driving the workbench to move along a first straight line direction; The motion compensation device according to any one of claims 1 to 8.

10. The conveying device according to claim 9, characterized in that The conveying device also includes a guide rail extending along the first straight line direction. A slider is provided at the bottom of the workbench. The slider is slidably connected to the guide rail. The guide rail is provided with a buffer.

Images