Robot motion trail error compensation mechanism

Abstract

The utility model relates to the technical field of motion compensation assistance, in particular to a robot motion trail error compensation mechanism which comprises an assembly frame, an assembly top plate is supported above the assembly frame, wheels are assembled on the side edge of the assembly frame through a motor, and a distribution controller is assembled in the middle of the assembly frame. A data processing module electrically connected with the distribution controller is assembled on the surface of the assembly top plate and electrically connected with the robot through a data line, a front supporting plate is assembled above the front side of the assembly top plate, a cleaning brush is arranged at the bottom of the front end of the assembly top plate, and an assembly rear edge is assembled on the rear side of the assembly top plate. Radar detection assemblies are arranged below the corners of the periphery of the assembly top plate. Assembling, supporting and auxiliary moving are conveniently carried out according to the moving track error requirement when the robot is used, errors are reduced, and the error compensation effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to motion compensation auxiliary technical field, concretely is a kind of robot motion trajectory error compensation mechanism. BACKGROUND

[0002] With the rapid development of industrial automation, robots are increasingly widely used in various fields, such as automobile manufacturing, electronic assembly, logistics and warehousing, etc. In these application scenarios, robots need to move accurately according to the predetermined trajectory to complete various complex tasks. However, due to the complexity of the structure of the robot itself and the influence of various factors during work, the actual motion trajectory often deviates from the ideal trajectory, i.e. motion trajectory error occurs, so a compensation device is needed to assist in fine-tuning support movement to compensate for errors.

[0003] However, the existing error compensation device is not convenient to assemble and support to assist in moving to reduce errors according to the movement trajectory error of the robot in use, which affects the error compensation effect.

[0004] Therefore, in order to solve the above problems, a robot motion trajectory error compensation mechanism is proposed. SUMMARY

[0005] The utility model aims at providing a kind of robot motion trajectory error compensation mechanism to solve the problem of the existing error compensation device not being convenient to assemble and support to assist in moving to reduce errors according to the movement trajectory error of the robot in use, which affects the error compensation effect as proposed in the above background.

[0006] To achieve the above purpose, the utility model provides the following technical scheme: a kind of robot motion trajectory error compensation mechanism, including assembly frame, the assembly frame upper support has assembly top plate, and assembly frame side is equipped with wheel by motor, the assembly frame middle part is equipped with distribution controller, and assembly top plate surface is equipped with the data processing module electrically connected with distribution controller, and data processing module is electrically connected with robot by data line, the assembly top plate front side upper assembly top plate front end bottom is provided with cleaning brush, the assembly top plate rear side is equipped with assembly rear side, and assembly top plate four corners are all provided with radar detection component below.

[0007] As a further improvement of the present scheme, four sets of wheels are symmetrically arranged at the four corners of the assembly frame, and each set of wheels is driven by an independent motor, and the four motors are electrically connected with the distribution controller. A damping assembly is hingedly supported between the motor side bracket and the assembly frame.

[0008] As a further further of the scheme, the assembly top plate surface is provided with a limiting frame corresponding to the data processing module, and the inner side of the limiting frame is provided with a power distribution power supply module electrically connected with the data processing module.

[0009] As a further further of the scheme, the limiting frame is covered with an upper cover frame, and the upper cover frame is covered with a maintenance edge plate on the top and around, and a glass plate is assembled inside the maintenance edge plate, and a heat dissipation hole is formed in the middle of the glass plate.

[0010] As a further further of the scheme, the front support plate is provided with a limiting transverse pin at the back, and the front side of the assembly top plate is provided with a corresponding front vertical plate, and the limiting transverse pin is inserted through the inside of the front vertical plate, the outer end of the limiting transverse pin is threaded with a fastening nut, and the inside of the front vertical plate is provided with a limiting insertion hole corresponding to the limiting transverse pin, the limiting transverse pin is sleeved with an auxiliary spring in the middle, and the auxiliary spring is located between the front support plate and the front vertical plate.

[0011] As a further further of the scheme, the front end of the assembly top plate is inclined and provided with an inclined head, the top and bottom of the front support plate are fixedly provided with an assembly front edge, and the inside of the assembly front edge is provided with a corresponding front screw hole, the two sides of the front support plate are integrally provided with a side arc plate, and the middle of the assembly rear edge integrally provided at the rear side of the assembly top plate is also provided with a corresponding rear screw hole.

[0012] As a further further of the scheme, the radar detection assembly is electrically connected with the data processing module, and a boom is fixed to the upper end of the radar detection assembly, and the boom is threaded and inserted into the inside of the assembly top plate, the boom is threaded and sleeved with a supporting nut outside, and the two supporting nuts are located above and below the assembly top plate, and the boom is integrally provided with a torsion block.

[0013] As a further further of the scheme, the lower vertical plate is integrally provided at the upper end of the cleaning brush, and the corresponding assembly buckle is integrally fixed at the bottom front side of the assembly top plate, and the assembly buckle is provided with an assembly groove corresponding to the lower vertical plate inside.

[0014] Compared with the prior art, the utility model has the advantages that: the utility model is convenient for assembling support auxiliary movement to reduce error according to the movement track error of the robot in use, which is beneficial to improve the error compensation effect;

[0015] 1、The utility model discloses a robot movement track error compensation mechanism that is characterized by comprising an assembly frame, an assembly top plate, wheels and a motor, which are cooperated with a distribution controller and a data processing module, so as to control the motor and the wheels, make the wheels around rotate to drive the assembly top plate and the assembly frame to move according to the need, and conveniently drive or tow the robot, so that the operation and use are more convenient and efficient.

[0016] 2, the utility model discloses a front support plate and assembly rear edge are set up, and it is convenient to assist docking or traction with the robot according to the use need when assembling and using, namely, under the cooperation of front support plate, push in the rear of robot, or under the cooperation of assembly rear edge, traction in the front of robot, so that subsequent corresponding track error is compensated and moved, through this design, the convenience and practicality of robot motion track error compensation mechanism are improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the overall structure of the utility model elevational view schematic diagram;

[0018] Figure 2 It is the overall structure of the utility model elevational view schematic diagram;

[0019] Figure 3 It is the overall structure of the utility model elevational view schematic diagram;

[0020] Figure 4 It is the overall structure of the utility model elevational view schematic diagram;

[0021] In the drawing: 100, assembly frame;101, damping assembly;110, assembly top plate;111, limit frame;112, inclined head;120, wheel;130, motor;140, distribution controller;141, data processing module;142, power distribution module;150, front support plate;151, limit horizontal pin;152, front vertical plate;153, fastening nut;154, auxiliary spring;155, limit jack;156, assembly front edge;157, front screw hole;158, side arc plate;160, cleaning brush;161, lower vertical plate;162, assembly buckle;163, assembly groove;170, assembly rear edge;171, rear screw hole;180, radar detection assembly;181, boom;182, support nut;183, torsion block;190, upper cover frame;191, maintenance edge plate;192, glass plate. DETAILED DESCRIPTION

[0022] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the utility model.

[0023] Please refer to Figures 1-4 , the utility model provides an embodiment:

[0024] A robot motion trajectory error compensation mechanism, comprising an assembly frame 100, an assembly top plate 110 is supported above the assembly frame 100, and wheels 120 are assembled on the sides of the assembly frame 100 through motors 130, a distribution controller 140 is assembled in the middle of the assembly frame 100, and a data processing module 141 electrically connected with the distribution controller 140 is assembled on the surface of the assembly top plate 110, and the data processing module 141 is electrically connected with the robot through a data line, a front support plate 150 is assembled above the front side of the assembly top plate 110, and a cleaning brush 160 is arranged at the bottom of the front end of the assembly top plate 110, a rear edge 170 is assembled on the rear side of the assembly top plate 110, and radar detection assemblies 180 are arranged below the corners around the assembly top plate 110;

[0025] As a more detailed embodiment of the present embodiment, four groups of wheels 120 are symmetrically arranged at the corners around the assembly frame 100, and each group of wheels 120 is driven by an independent motor 130, and the four groups of motors 130 are electrically connected with the distribution controller 140, and a damping assembly 101 is hingedly supported between the side support of the motor 130 and the assembly frame 100, so as to assist in driving movement during assembly and use, making operation and use more convenient;

[0026] As a more detailed embodiment of the present embodiment, a limiting frame 111 corresponding to the data processing module 141 is arranged on the surface of the assembly top plate 110, and a power distribution and power supply module 142 electrically connected with the data processing module 141 is assembled on the inside of the limiting frame 111, so as to facilitate auxiliary power supply and control of the distribution controller 140 according to the needs during assembly and use, and make subsequent operation and control more convenient under the electrical connection of the data processing module 141 and the robot;

[0027] As a more detailed embodiment of the present embodiment, an upper cover frame 190 is covered outside the limiting frame 111, and a maintenance side plate 191 is covered on the top and around the upper cover frame 190, and a glass plate 192 is assembled inside the maintenance side plate 191, and a heat dissipation hole is formed in the middle of the glass plate 192, so as to facilitate cover maintenance during assembly and use;

[0028] As a more detailed embodiment of the present embodiment, a limiting transverse pin 151 is fixedly arranged on the back of the front support plate 150, and a corresponding front vertical plate 152 is assembled and supported on the front side of the assembly top plate 110, the limiting transverse pin 151 is inserted and arranged inside the front vertical plate 152, a fastening nut 153 is threadedly sleeved on the outer end of the limiting transverse pin 151, a limiting insertion hole 155 corresponding to the limiting transverse pin 151 is formed in the inside of the front vertical plate 152, an auxiliary spring 154 is sleeved on the middle of the limiting transverse pin 151, and the auxiliary spring 154 is located between the front support plate 150 and the front vertical plate 152, so as to facilitate assembly and auxiliary of the front support plate 150 during assembly and use, and also facilitate auxiliary flexible support and top driving through the auxiliary spring 154, making subsequent operation and use more convenient;

[0029] As a more detailed embodiment, the front end of the assembly top plate 110 is provided with an inclined head 112, the top and bottom of the front support plate 150 are integrally provided with an assembly front edge 156, and the inside of the assembly front edge 156 is provided with a corresponding front screw hole 157, the two sides of the front support plate 150 are integrally provided with a side arc plate 158, and the middle of the assembly rear edge 170 integrally provided at the rear side of the assembly top plate 110 is also provided with a corresponding rear screw hole 171. Therefore, during assembly and use, it is convenient to assist in assembly and connection according to the needs of use, making operation more convenient.

[0030] As a more detailed embodiment, the radar detection assembly 180 is electrically connected with the data processing module 141, and the upper end of the radar detection assembly 180 is fixed with a boom 181, and the boom 181 is threadedly inserted into the inside of the assembly top plate 110. The outside of the boom 181 is threadedly provided with a support nut 182, and the two groups of support nuts 182 are located above and below the assembly top plate 110. The boom 181 is integrally provided with a torsion block 183. Therefore, during assembly and use, it is convenient to assist in sensing the corners around the assembly top plate 110 according to the needs of use, making operation and use more convenient. It should be noted that the radar detection assembly 180 can be purchased on the market, and its connection structure and use principle are well known to those skilled in the art, so it will not be described here.

[0031] As a more detailed embodiment, the upper end of the cleaning brush 160 is integrally provided with a lower vertical plate 161, and the bottom front side of the assembly top plate 110 is integrally provided with a corresponding assembly buckle 162, and the inside of the assembly buckle 162 is provided with an assembly groove 163 corresponding to the lower vertical plate 161. Therefore, when the assembly frame 100 and the assembly top plate 110 move to the front side, the cleaning brush 160 can be used for cleaning, avoiding interfering with the normal movement of the assembly frame 100 and the wheel 120.

[0032] Working principle: during assembly and use, the data processing module 141 is connected with the robot through the data line, which is convenient for subsequent auxiliary movement support. Then, according to the needs of use, the assembly front edge 156 and the assembly rear edge 170 are cooperated, and the screw is cooperated with the front screw hole 157 and the rear screw hole 171 to assist in docking assembly, which is convenient for subsequent auxiliary movement, making the movement trajectory error compensation more convenient. Further, during use, the distribution controller 140 controls the motor 130, so that the motor 130 drives the wheel 120 to rotate, so that the assembly frame 100 and the assembly top plate 110 can support and move the robot, making the operation and use more convenient. After the robot moves, it is convenient to assist in compensating and pushing according to the track error, making the operation and use more convenient and accurate, and the operation ends here.

[0033] The above merely describes preferred embodiments of the present application, and is not intended to limit the present application in any form; any person skilled in the art can smoothly implement the present application according to the drawings shown in the specification and the above description; however, any person skilled in the art can make slight changes, modifications and equivalent changes of the present application within the scope of the technical scheme of the present application, and the equivalent embodiments of the present application are still within the protection scope of the technical scheme of the present application.

Claims

1. A robot motion trajectory error compensation mechanism, comprising an assembly frame (100), characterized in that: The assembly frame (100) is supported by an assembly top plate (110), and wheels (120) are mounted on the side of the assembly frame (100) via motors (130). A distribution controller (140) is mounted in the middle of the assembly frame (100), and a data processing module (141) electrically connected to the distribution controller (140) is mounted on the surface of the assembly top plate (110). The data processing module (141) is electrically connected to the robot via a data cable. A front support plate (150) is mounted on the upper front side of the assembly top plate (110), and a cleaning brush (160) is provided at the bottom front end of the assembly top plate (110). An assembly rear side (170) is mounted on the rear side of the assembly top plate (110), and radar detection components (180) are provided below the corners of the assembly top plate (110).

2. The robot motion trajectory error compensation mechanism according to claim 1, characterized in that: The four sets of wheels (120) are symmetrically arranged at the four corners of the assembly frame (100), and each set of wheels (120) is driven by an independent motor (130). The four sets of motors (130) are electrically connected to the distribution controller (140). The side brackets of the motors (130) are hinged to the assembly frame (100) and supported by shock-absorbing components (101).

3. The robot motion trajectory error compensation mechanism according to claim 1, characterized in that: The surface of the assembly top plate (110) is provided with a limiting frame (111) corresponding to the data processing module (141), and a power distribution module (142) electrically connected to the data processing module (141) is assembled on the inner side of the limiting frame (111).

4. The robot motion trajectory error compensation mechanism according to claim 3, characterized in that: The limiting frame (111) is covered by an upper cover frame (190), and the top and sides of the upper cover frame (190) are covered by a maintenance side plate (191), and a glass plate (192) is installed inside the maintenance side plate (191), and a heat dissipation hole is opened in the middle of the glass plate (192).

5. The robot motion trajectory error compensation mechanism according to claim 1, characterized in that: A limiting pin (151) is fixed on the back of the front support plate (150), and a corresponding front upright plate (152) is mounted on the front side of the mounting top plate (110). The limiting pin (151) is inserted through the front upright plate (152). A fastening nut (153) is threaded on the outer end of the limiting pin (151), and a limiting insertion hole (155) corresponding to the limiting pin (151) is opened inside the front upright plate (152). An auxiliary spring (154) is sleeved in the middle of the limiting pin (151), and the auxiliary spring (154) is located between the front support plate (150) and the front upright plate (152).

6. The robot motion trajectory error compensation mechanism according to claim 5, characterized in that: The top plate (110) is inclined with an inclined head (112) at its front end. The top and bottom of the front support plate (150) are both fixed with a front edge (156), and the front edge (156) is provided with a corresponding front screw hole (157). The two sides of the front support plate (150) are integrally fixed with side arc plates (158), and the middle of the rear edge (170) integrally provided at the rear end of the top plate (110) is also provided with a corresponding rear screw hole (171).

7. The robot motion trajectory error compensation mechanism according to claim 1, characterized in that: The radar detection component (180) is electrically connected to the data processing module (141), and a hanging rod (181) is fixed at the upper end of the radar detection component (180). The hanging rod (181) is threaded into the assembly top plate (110). The hanging rod (181) is threaded with a support nut (182), and two sets of support nuts (182) are located above and below the assembly top plate (110). The hanging rod (181) is integrally provided with a torsion block (183).

8. The robot motion trajectory error compensation mechanism according to claim 1, characterized in that: The upper end of the cleaning brush (160) is integrally provided with a lower upright plate (161), and the bottom front side of the mounting top plate (110) is integrally fixed with a corresponding mounting buckle (162), and the mounting buckle (162) is provided with a mounting groove (163) corresponding to the lower upright plate (161).

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