Counterweight assembly and robotic arm load testing device

Abstract

The present invention discloses a counterweight assembly and a robotic arm load testing device. The counterweight assembly includes: a mounting plate; a first connecting arm, the first end of the first connecting arm being connected to the mounting plate; a second connecting arm, the first end of the second connecting arm being connected to the mounting plate, and the second connecting arm being located on one side of the first connecting arm; and a counterweight block. The counterweight assembly and the robotic arm load testing device of the present invention utilize the mounting plate, the first connecting arm and the second connecting arm to achieve detachable fixation of the counterweight block. When it is necessary to change the mass of the counterweight block and the centroid position of the counterweight block, etc., different counterweight blocks can be replaced only without disassembling the mounting plate, the first connecting arm and the second connecting arm, thereby effectively overcoming the problem of increased cost caused by multiple counterweight structures in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of detection equipment, and more specifically, it relates to a counterweight assembly and a manipulator load testing device. Background Art

[0002] The load of a manipulator refers to the load of the actuator assembled on the end flange of the robot manipulator, which is the mass that moves with the manipulator. The relevant parameters of the load have a significant impact on the design of the manipulator. In the existing load testing devices, the counterweight block and the mounting bracket are integrally formed to constitute the counterweight structure. In the case of needing to conduct different counterweight tests, multiple counterweight structures with different masses or centers of mass are required, and it is impossible to flexibly change the mass attributes such as the mass, center of mass, and moment of inertia of the load block according to requirements, resulting in a high cost of calibration experiments. Summary of the Invention

[0003] The present invention discloses a counterweight assembly and a manipulator load testing device, which solve the problem of high experimental cost caused by the inability to flexibly change the mass and center of mass of the counterweight structure in the prior art.

[0004] The present invention discloses a counterweight assembly, including:

[0005] A mounting plate;

[0006] A first connecting arm, the first end of the first connecting arm is connected to the mounting plate;

[0007] A second connecting arm, the first end of the second connecting arm is connected to the mounting plate, and the second connecting arm is located on one side of the first connecting arm;

[0008] A counterweight block, the counterweight block is arranged between the first connecting arm and the second connecting arm, and the second end of the first connecting arm is connected to the first side surface of the counterweight block, and the second end of the second connecting arm is connected to the second side surface of the counterweight block.

[0009] The mounting plate, the first connecting arm and the second connecting arm together enclose a triangular structure, and the counterweight block is arranged at the vertex angle far from the mounting plate.

[0010] The triangular structure is a right triangle, the first connecting arm is perpendicular to the mounting plate, the second connecting arm forms the hypotenuse of the right triangle, and the first connecting arm is attached to the first side surface of the counterweight block.

[0011] A connecting plate is arranged at the second end of the second connecting arm, and the connecting plate is attached to the second side surface of the counterweight block.

[0012] At least one first fixing hole is provided on the first connecting arm, a second fixing hole is provided on the connecting plate, and a through hole is provided on the counterweight block. A locking member sequentially passes through the first fixing hole, the through hole, and the second fixing hole to complete the fixing of the counterweight block.

[0013] The cross-section of the counterweight block is circular, and the center of the circle is located on the axis of the through hole.

[0014] A long slot is provided on the first connecting arm, a positioning groove is provided on the counterweight block, and a positioning member is arranged in the positioning groove through the long slot, and the positioning member can be fixed at any position of the long slot.

[0015] A connecting flange is provided on the mounting plate.

[0016] A precision calibration reference pin is provided on the counterweight block.

[0017] On the other hand, the present invention provides a robotic arm load testing device, including the counterweight assembly described above.

[0018] The counterweight assembly and the robotic arm load testing device of the present invention utilize the mounting plate, the first connecting arm, and the second connecting arm to achieve detachable fixing of the counterweight block. When it is necessary to change the mass of the counterweight block, the centroid position of the counterweight block, etc., it is possible to only replace different counterweight blocks without disassembling the mounting plate, the first connecting arm, and the second connecting arm, thereby effectively overcoming the problem of increased cost caused by multiple counterweight structures in the prior art. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of the counterweight assembly according to an embodiment of the present invention;

[0020] Figure 2 is another schematic structural diagram of the counterweight assembly according to an embodiment of the present invention;

[0021] Legend: 1. Mounting plate; 2. First connecting arm; 3. Second connecting arm; 4. Counterweight block; 5. Connecting plate; 6. Locking member; 7. Positioning member; 8. Connecting flange; 9. Precision calibration reference pin. Detailed Embodiments

[0022] The following further describes the present invention with reference to embodiments, but is not limited to the content in the specification.

[0023] As Figure 1 and Figure 2As shown in the figure, the present invention discloses a counterweight assembly, including: a mounting plate 1; a first connecting arm 2, the first end of the first connecting arm 2 is connected to the mounting plate 1; a second connecting arm 3, the first end of the second connecting arm 3 is connected to the mounting plate 1, and the second connecting arm 3 is located on one side of the first connecting arm 2; a counterweight 4, the counterweight 4 is arranged between the first connecting arm 2 and the second connecting arm 3, and the second end of the first connecting arm 2 is connected to the first side surface of the counterweight 4, and the second end of the second connecting arm 3 is connected to the second side surface of the counterweight 4. The detachable fixation of the counterweight 4 is realized by using the mounting plate 1, the first connecting arm 2 and the second connecting arm 3. When it is necessary to change the mass of the counterweight 4 and the centroid position of the counterweight 4, etc., different counterweights 4 can be replaced only without disassembling the mounting plate 1, the first connecting arm 2 and the second connecting arm 3, thereby effectively overcoming the problem of increased cost caused by multiple counterweight structures in the prior art.

[0024] During use, the corresponding counterweight 4 is installed on the first connecting arm 2 and the second connecting arm 3 to form a counterweight assembly, and then the counterweight assembly is directly arranged on the structure to be tested. When it is necessary to change the mass of the counterweight or the centroid of the counterweight during the test, the corresponding counterweight 4 is selected and installed again, effectively overcoming the problem of increased cost caused by multiple counterweight structures in the prior art.

[0025] It should be noted that the multiple counterweights 4 mentioned in this application are all of standardized design, and the centroid position can be adjusted by different installation positions or different positioning with the first connecting arm 2 and the second connecting arm 3. The specific content is as follows:

[0026] The mounting plate 1, the first connecting arm 2 and the second connecting arm 3 jointly enclose a triangular structure, and the counterweight 4 is arranged at the vertex angle far from the mounting plate 1. The stability of the triangular structure is used to ensure the connection stability between the counterweight 4 and the mounting plate 1, the first connecting arm 2 and the second connecting arm 3, and to avoid problems such as shaking of the counterweight 4 that affect the test accuracy.

[0027] The triangular structure is a right triangle, the first connecting arm 2 is perpendicular to the mounting plate 1, the second connecting arm 3 forms the hypotenuse of the right triangle, and the first connecting arm 2 is attached to the first side surface of the counterweight 4. After the counterweight 4 is installed, the hypotenuse formed by the second connecting arm 3 can generate a squeezing force on the counterweight 4 to move in the direction of the first connecting arm 2, thereby further ensuring the reliable fixation of the counterweight 4. At the same time, the eccentric setting of the counterweight 4 is realized by using the right triangle, so as to ensure that the counterweight assembly meets the test requirements.

[0028] A connecting plate 5 is provided at the second end of the second connecting arm 3, and the connecting plate 5 is arranged in close contact with the second side surface of the counterweight 4. The connecting plate 5 facilitates the connection between the second connecting arm 3 and the counterweight 4.

[0029] At least one first fixing hole is provided on the first connecting arm 2, a second fixing hole is provided on the connecting plate 5, and a through hole is provided on the counterweight 4. A locking member 6 sequentially passes through the first fixing hole, the through hole and the second fixing hole to complete the fixing of the counterweight 4. The locking member 6 is a fastening screw. After the fastening screw sequentially passes through the first connecting arm 2, the counterweight 4 and the second connecting arm 3, it can be locked by a corresponding nut.

[0030] The cross section of the counterweight 4 is circular, and the center of the circle is located on the axis of the through hole. That is, the counterweight 4 is a standard block with a cylindrical structure. When installed, it is ensured that the axis of the counterweight 4 is collinear with the axis of the first fixing hole and the axis of the second fixing hole, so as to ensure the reliable position of the counterweight 4.

[0031] A long slot is provided on the first connecting arm 2, a positioning groove is provided on the counterweight 4, and a positioning member 7 is arranged in the positioning groove through the long slot, and the positioning member 7 can be fixed at any position of the long slot. The positioning member 7 is used to limit the rotation of the counterweight 4, and two-point limitation of the counterweight 4 is realized, so as to ensure the reliable fixing of the counterweight 4.

[0032] A connecting flange 8 is provided on the mounting plate 1. The connecting flange 8 facilitates the connection with the device to be tested.

[0033] The second connecting arm 3 is also provided with a plurality of process holes for installing connecting bolts between the connecting flange 8 and the device to be tested.

[0034] A precision calibration reference pin 9 is provided on the counterweight 4. The precision calibration reference pin 9 is used to calibrate the trajectory accuracy and positioning accuracy of the robotic arm under a specific load, etc.

[0035] On the other hand, the present invention provides a robotic arm load testing device, including the above-mentioned counterweight assembly, which effectively reduces the testing cost of the load testing device, and at the same time can accurately calibrate the working ability of the robotic arm under the theoretical load data. It can also enable the robotic arm to execute movements with accurate load data, which can not only make the actuator have the best beat time, but also extend the service life of the robotic arm.

[0036] Obviously, the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the embodiments of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to enumerate all the embodiments here. Any obvious changes or modifications derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. A counterweight assembly, characterized in that, Comprising: Mounting plate (1); First connecting arm (2), the first end of the first connecting arm (2) being connected to the mounting plate (1); Second connecting arm (3), the first end of the second connecting arm (3) being connected to the mounting plate (1), and the second connecting arm (3) being located on one side of the first connecting arm (2); Counterweight (4), the counterweight (4) being arranged between the first connecting arm (2) and the second connecting arm (3), and the second end of the first connecting arm (2) being connected to the first side surface of the counterweight (4), the second end of the second connecting arm (3) being connected to the second side surface of the counterweight (4); The mounting plate (1), the first connecting arm (2) and the second connecting arm (3) jointly enclose a triangular structure, the triangular structure being a right triangle, the first connecting arm (2) being perpendicular to the mounting plate (1), the second connecting arm (3) forming the hypotenuse of the right triangle, and the first connecting arm (2) being in close contact with the first side surface of the counterweight (4); A long hole is provided on the first connecting arm (2), a positioning groove is provided on the counterweight (4), and a positioning member (7) is arranged in the positioning groove through the long hole, and the positioning member (7) can be fixed at any position of the long hole.

2. The counterweight assembly according to claim 1, wherein The counterweight (4) is arranged at the vertex angle away from the mounting plate (1).

3. The counterweight assembly according to claim 2, wherein A connecting plate (5) is provided at the second end of the second connecting arm (3), and the connecting plate (5) is in close contact with the second side surface of the counterweight (4).

4. The counterweight assembly according to claim 3, wherein, At least one first fixing hole is provided on the first connecting arm (2), a second fixing hole is provided on the connecting plate (5), a through hole is provided on the counterweight (4), and a locking member (6) sequentially passes through the first fixing hole, the through hole and the second fixing hole to complete the fixing of the counterweight (4).

5. The counterweight assembly according to claim 4, wherein, The cross section of the counterweight (4) is circular, and the center of the circle is located on the axis of the through hole.

6. The counterweight assembly according to claim 1, wherein, A connecting flange (8) is provided on the mounting plate (1).

7. The counterweight assembly according to claim 1, wherein, An accuracy calibration reference needle (9) is provided on the counterweight (4).

8. A robotic arm load testing device, characterized in that: Comprising the counterweight assembly according to any one of claims 1 to 7.

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