Robot tail axis angle compensation mechanism

Abstract

The utility model relates to the technical field of robots, in particular to a robot tail shaft angle compensation mechanism which is installed on a rotating shaft of a mechanical arm and comprises an electric cylinder, a first adjusting arm, a second adjusting arm and a bottom plate, the bottom plate is fixedly connected to the bottom of the rotating shaft, and the first adjusting arm and the second adjusting arm are both fixedly connected to the rotating shaft. The first adjusting arm is located above the second adjusting arm, and the left end and the right end of the electric cylinder are connected with the first adjusting arm and the second adjusting arm respectively. The compensation mechanism can dynamically adjust the position of the rotating shaft at the tail end of the robot by driving the first adjusting arm and the second adjusting arm through the electric cylinder when the rotating shaft of the robot executes the rotating action, nonlinear motion errors caused by back clearance can be effectively counteracted, and the positioning precision during large-size product processing is remarkably improved; and it is ensured that solar cell panels and other assemblies can be accurately grabbed and placed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot end-axis angle compensation mechanism. Background Art

[0002] At present, in the current field of automated production, especially in high-end manufacturing scenarios using four-axis or six-axis robots, such as the precision assembly and handling of solar panels, extremely high requirements are placed on the robot's operating accuracy. However, a long-standing technical problem is that the rotation axis of these robot end effectors has a "backlash" phenomenon in the mechanical structure (backlash refers to the nonlinear motion error caused by the gap at the robot's joints. When the robot rotates from one direction to another, due to the tiny gaps between gears, bearings and other components, a certain amount of backlash will be generated, thus affecting the final operation accuracy). This leads to obvious positioning deviations when handling large-size products, especially when performing rotational movements at the farthest end of its working range.

[0003] Specifically, when the robot needs to grasp and accurately place large, thin products with strict alignment requirements such as solar panels, the backlash problem of the rotating axis is particularly prominent, resulting in a large position offset between the farthest position and the center of rotation, which directly reduces the accuracy of assembly or handling and affects product quality and production efficiency.

[0004] Therefore, a robot end-axis angle compensation mechanism is needed to solve the above technical problems. Utility Model Content

[0005] The purpose of the utility model is to provide a robot end-axis angle compensation mechanism, which can dynamically adjust the position of the robot end rotation axis by driving a first adjustment arm and a second adjustment arm through an electric cylinder when the robot rotation axis performs a rotation action, which can effectively offset the nonlinear motion error caused by backlash, significantly improve the positioning accuracy when processing large-size products, and ensure that components such as solar panels can be accurately grasped and placed.

[0006] The technical solution adopted by the utility model to solve the above-mentioned technical problems is: a robot end-axis angle compensation mechanism is installed on the rotating shaft of the robot arm, the angle compensation mechanism includes an electric cylinder, a first adjustment arm, a second adjustment arm and a base plate, the base plate is fixedly connected to the bottom of the rotating shaft, the first adjustment arm and the second adjustment arm are both fixedly connected to the rotating shaft, the first adjustment arm is located above the second adjustment arm, and the left and right ends of the electric cylinder are respectively connected to the first adjustment arm and the second adjustment arm.

[0007] Furthermore, a connecting pin is fixedly connected to the first adjusting arm, an electric cylinder fixing seat is fixedly connected to the second adjusting arm, one end of the electric cylinder is connected to the electric cylinder fixing seat, and an electric cylinder push rod is drivingly connected to the other end of the electric cylinder, and the electric cylinder push rod and the connecting pin are fixedly connected to each other.

[0008] Furthermore, a driving motor is disposed at the upper end of the rotating shaft, and an output end of the driving motor and the rotating shaft are drivingly connected to each other, and the driving motor is used to drive the rotating shaft to rotate.

[0009] Furthermore, a grabbing frame is fixedly connected to the bottom of the base plate, and a plurality of suction cups for grabbing solar panels are connected to the grabbing frame.

[0010] Furthermore, the mechanical arm is installed on the robot, and the rotating shaft is installed on the mechanical arm through a connecting piece, and the robot is any one of a four-axis robot or a six-axis robot.

[0011] The advantages of the utility model are: the utility model provides a robot end-axis angle compensation mechanism, and the specific beneficial effects are as follows:

[0012] 1. The compensation mechanism can dynamically adjust the position of the robot's end rotation axis by driving the first adjustment arm and the second adjustment arm through the electric cylinder when the robot's rotation axis performs a rotation action. It can effectively offset the nonlinear motion error caused by backlash, significantly improve the positioning accuracy when processing large-size products, and ensure that components such as solar panels can be accurately grasped and placed.

[0013] 2. The mechanism is flexibly designed and is applicable not only to four-axis robots but also to six-axis robots, which means it can be widely used in automated production lines of varying complexity, enhancing the versatility and adaptability of the robot system in high-end manufacturing scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the overall assembly structure of the utility model;

[0016] Figure 2 for Figure 1 A schematic diagram of a local enlarged structure;

[0017] Figure 3It is a structural schematic diagram of the angle compensation mechanism in the utility model;

[0018] in:

[0019] 1. Photo module; 2. Solar panel; 3. Grab rack;

[0020] 301, suction cup; 4, angle compensation mechanism; 401, electric cylinder;

[0021] 402, electric cylinder push rod; 403, connecting pin; 404, first adjusting arm;

[0022] 405, second adjusting arm; 406, electric cylinder fixing seat; 407, bottom plate;

[0023] 5. Robot; 501. Robotic arm; 502. Driving motor;

[0024] 503. Rotating shaft; 6. Connecting parts. DETAILED DESCRIPTION

[0025] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model 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, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. The terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0027] Embodiment 1:

[0028] Figure 1 This is a schematic diagram of the overall assembly structure of the utility model. Figure 2 for Figure 1 A local enlarged structural diagram of Figure 3 Schematic diagram of the structure of the angle compensation mechanism in the utility model, as shown in Figure 1 , Figure 2 and Figure 3 A robot end-axis angle compensation mechanism is shown, which is installed on the rotating shaft 503 of the robot arm 501. The angle compensation mechanism 4 includes an electric cylinder 401, a first adjustment arm 404, a second adjustment arm 405 and a base plate 407. The base plate 407 is fixedly connected to the bottom of the rotating shaft 503. The base plate 407 plays the role of fixing and supporting the entire compensation mechanism. It is firmly installed at the bottom of the rotating shaft 503 to ensure that all components have a solid foundation to support the stability and reliability of the entire mechanism during the robot 5 performs tasks.

[0029] The mechanical arm 501 in the utility model is installed on the robot 5, and the rotating shaft 503 is installed on the mechanical arm 501 through the connecting piece 6. The robot 5 is any one of a four-axis robot 5 or a six-axis robot 5. The rotating shaft 503 is a key component of the mechanical arm 501 of the robot 5, and is connected to the mechanical arm 501 through the connecting piece 6, allowing it to rotate freely in space. This design flexibility enables the robot 5 to complete multi-dimensional movements. Robot 5 (four-axis or six-axis): As the carrier of the entire system, the robot 5 provides a basic motion platform. Whether it is a four-axis or six-axis robot 5, it can enhance its performance in high-precision operations, such as the solar panel 2 assembly line, by integrating this compensation mechanism, showing better positioning accuracy and production efficiency.

[0030] The first adjustment arm 404 and the second adjustment arm 405 in the utility model are both fixedly connected to the rotating shaft 503, the first adjustment arm 404 is located above the second adjustment arm 405, the left and right ends of the electric cylinder 401 are respectively connected to the first adjustment arm 404 and the second adjustment arm 405, wherein the electric cylinder 401 is used as a power source to provide a linear driving force, when the camera assembly 1 (camera assembly 1 as shown in FIG. 1 ) disposed below the solar cell panel 2 is Figure 1 As shown, when the currently available camera assembly 1) detects that the solar panel 2 is offset, a control instruction is sent to the electric cylinder 401, and the electric cylinder 401 drives the electric cylinder push rod 402 to perform telescopic movement to push the first adjustment arm 404 and the second adjustment arm 405, so as to achieve fine adjustment of the end axis position of the robot 5, thereby compensating for the positioning deviation caused by the backlash of the mechanical structure.

[0031] In the present invention, a connecting pin 403 is fixedly connected to the first adjusting arm 404, an electric cylinder fixing seat 406 is fixedly connected to the second adjusting arm 405, one end of the electric cylinder 401 is connected to the electric cylinder fixing seat 406, and the other end of the electric cylinder 401 is driven and connected to the electric cylinder push rod 402, and the electric cylinder push rod 402 and the connecting pin 403 are fixedly connected to each other. The first adjusting arm 404 and the second adjusting arm 405 in the present invention directly participate in the key action of angle compensation. The first adjusting arm 404 and the second adjusting arm 405 are connected through the electric cylinder 401, and their position changes directly affect the rotation axis 503. In the final position, the first adjusting arm 404 and the second adjusting arm 405 can drive the rotating shaft 503 to rotate under the drive of the electric cylinder 401, so as to realize dynamic adjustment of the angle of the rotating shaft 503 at the end of the robot 5. The connecting pin 403 in the utility model is fixed on the first adjusting arm 404 and connected to the electric cylinder push rod 402 to realize force transmission, thereby ensuring that the linear motion of the electric cylinder 401 can be accurately converted into the adjustment of the position of the rotating shaft 503. The electric cylinder fixing seat 406 is installed on the second adjusting arm 405, which is used to fix one end of the electric cylinder 401, so as to ensure the stability of the electric cylinder 401 during operation and the accurate transmission of force.

[0032] The utility model is provided with a driving motor 502 at the upper end of the rotating shaft 503, and the output end of the driving motor 502 is mutually driven and connected with the rotating shaft 503. The driving motor 502 is responsible for driving the rotating shaft 503 to perform the expected rotational motion, which is the source of motion when the robot 5 performs the task, ensuring that the robot 5 can operate according to the predetermined trajectory and speed. The utility model is fixedly connected with a grabbing frame 3 at the bottom of the bottom plate 407, and a plurality of suction cups 301 for grabbing solar panels 2 are connected to the grabbing frame 3. These suction cups 301 are specially designed for grabbing products such as solar panels 2. They ensure the firm grasping of components during the handling process through adsorption force, and improve the stability and safety of the operation.

[0033] Working principle: The working principle of this technical solution can be broken down into the following logical steps:

[0034] 1. Initial preparation stage

[0035] Installation and connection: The robot 5 end-axis angle compensation mechanism 4 is installed on the rotating shaft 503 of the robot arm 501, wherein the bottom plate 407 is fixed to the bottom of the rotating shaft 503, the first adjustment arm 404 and the second adjustment arm 405 are fixed to the rotating shaft 503, the electric cylinder 401 is connected to the second adjustment arm 405 through the electric cylinder fixing seat 406, and the electric cylinder push rod 402 is connected to the connecting pin 403 on the first adjustment arm 404. The driving motor 502 is installed at the upper end of the rotating shaft 503 and is drivingly connected to the rotating shaft 503. The material grabbing frame 3 is fixed to the bottom of the bottom plate 407, and a special suction cup 301 for the solar cell panel 2 is installed on it.

[0036] 2. Task reception and analysis

[0037] Task instruction reception: The control system of the robot 5 receives the task instruction of transporting or assembling the solar panel 2. With the cooperation of the rotation action, the suction cup 301 installed on the grasping frame 3 absorbs the solar panel 2 for precise grasping.

[0038] Photo detection: The photo component 1 located below the solar panel 2 is activated to take an image of the current state of the panel and transmit it to the control system.

[0039] 3. Offset analysis and instruction generation

[0040] Image analysis: The control system analyzes the photo to determine the deviation between the actual position of the solar panel 2 and the ideal position.

[0041] Compensation strategy calculation: Based on the offset, calculate the precise distance that the electric cylinder 401 needs to push to adjust the position of the rotating shaft 503 and eliminate the deviation.

[0042] 4. Electric cylinder 401 drive and angle adjustment

[0043] Control signal output: The control command is sent to the driver of the electric cylinder 401, and the extension and retraction action of the electric cylinder 401 is adjusted according to the calculation result.

[0044] Angle compensation implementation: The electric cylinder 401 drives the rotating shaft 503 to fine-tune the angle compensation by pushing the first adjustment arm 404 and the second adjustment arm 405. The linear motion of the electric cylinder push rod 402 is transmitted to the first adjustment arm 404 through the connecting pin 403 to realize the force conversion and ensure the accuracy of the adjustment.

[0045] 5. Dynamic adjustment and verification

[0046] Real-time adjustment: Under the action of the electric cylinder 401, the relative positions of the first adjustment arm 404 and the second adjustment arm 405 are continuously adjusted until the deviation is completely corrected.

[0047] Feedback confirmation: The camera assembly 1 takes another photo, and the system analyzes and confirms that the solar panel 2 is correctly aligned. If there is still a deviation, return to step 4 for fine-tuning.

[0048] 6. Task Completion and Reset

[0049] Mission completion confirmation: When the solar panel 2 is correctly placed, the robot 5 completes the mission and the control system records the mission completion status.

[0050] System reset: As needed, the robot returns to its initial position or prepares for the next task.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A robot end-axis angle compensation mechanism, mounted on a rotating shaft (503) of a robot arm (501), characterized in that: The angle compensation mechanism (4) comprises an electric cylinder (401), a first adjustment arm (404), a second adjustment arm (405) and a bottom plate (407); the bottom plate (407) is fixedly connected to the bottom of a rotating shaft (503); the first adjustment arm (404) and the second adjustment arm (405) are both fixedly connected to the rotating shaft (503); the first adjustment arm (404) is located above the second adjustment arm (405); and the left and right ends of the electric cylinder (401) are respectively connected to the first adjustment arm (404) and the second adjustment arm (405).

2. A robot end-axis angle compensation mechanism according to claim 1, characterized in that: The first adjusting arm (404) is fixedly connected with a connecting pin (403), the second adjusting arm (405) is fixedly connected with an electric cylinder fixing seat (406), one end of the electric cylinder (401) is connected to the electric cylinder fixing seat (406), the other end of the electric cylinder (401) is drivingly connected with an electric cylinder push rod (402), and the electric cylinder push rod (402) and the connecting pin (403) are fixedly connected to each other.

3. The robot end-axis angle compensation mechanism according to claim 1, characterized in that: A driving motor (502) is disposed at the upper end of the rotating shaft (503), and the output end of the driving motor (502) and the rotating shaft (503) are drivingly connected to each other, and the driving motor (502) is used to drive the rotating shaft (503) to rotate.

4. The robot end-axis angle compensation mechanism according to claim 1, characterized in that: A material grabbing frame (3) is fixedly connected to the bottom of the base plate (407), and a plurality of suction cups (301) for grabbing solar panels (2) are connected to the material grabbing frame (3).

5. The robot end-axis angle compensation mechanism according to claim 1, characterized in that: The mechanical arm (501) is mounted on the robot (5), and the rotating shaft (503) is mounted on the mechanical arm (501) via a connecting piece (6). The robot (5) is any one of a four-axis robot and a six-axis robot.

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