Seven-axis robot operation counterweight device

Abstract

The invention relates to the technical field of robots, in particular to a seven-axis robot operation counterweight device. Comprising a ground rail and a base in sliding and driving connection with the upper surface of the ground rail. The top of the base rotates and is in driving connection with a U-shaped rotating seat; the inner side of the top of the rotating seat rotates and is in driving connection with a Y-shaped shoulder arm; the inner side of the top of the shoulder arm rotates and is in driving connection with the big arm; the end part of the large arm rotates and is in driving connection with the small arm; the inner side of the end part of the small arm rotates and is in driving connection with the cantilever; the end part of the cantilever rotates and is in driving connection with the finger arm; in the process that the shoulder arm inclines towards one direction, the first balance weight arm inclines towards the opposite direction, in this way, the first balance weight arm can balance the gravity center deviation problem caused after the shoulder arm inclines, gravity center balance of the seven-axis robot is achieved, and therefore the running stability of the seven-axis robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a seven-axis robot running counterweight device. BACKGROUND

[0002] Seven-axis robot refers to the increase of ground rail or guide rail on the basis of six-axis, forming the seventh axis, in joint robot, the more common is six-axis industrial robot, the working area of the robot mainly depends on the arm span, if you want to work in a larger span of multiple stations, you need to equip the robot ground rail, also known as the seventh axis of robot, a precise matching of the seventh axis of robot can improve the working efficiency of the robot.

[0003] The six axes of six-axis robot are equivalent to the joints of human arm, the first axis refers to the base rotation axis, like the "waist" of the robot, which can control the left and right rotation of the robot, and determines the overall orientation; the second axis refers to the shoulder axis, like the "shoulder" of the robot, which can control the up and down of the robot, adjust the height and angle of the robot; the third axis refers to the elbow axis, like "big arm", which can bend freely, control the position before and after; the fourth axis refers to the wrist rotation axis, like "small arm", which can make the end effector swing left and right on the horizontal plane; the fifth axis refers to the wrist bending axis, like "wrist", which can realize the rotating action; the sixth axis, like flexible "finger", can make the end effector rotate freely in the vertical plane, the six axes are closely connected and cooperate with the seventh axis, which can complete various complex and precise actions.

[0004] In the process of completing various complex and precise actions, the second axis of the seven-axis robot will be up and down around the top of the first axis, the second axis will drive the third axis, the fourth axis, the fifth axis and the sixth axis to deviate from the first axis, which will cause the instability of the center of gravity of the seven-axis robot. In the existing technology, such as the technology of a flexible six-axis robot with the announcement number CN204525462U, although the technology solves the instability of the center of gravity of the seven-axis robot, it mainly relies on reducing the overall center of gravity of the robot to balance the robot; that is, most of the existing technologies balance the robot by changing the center of gravity in the vertical direction, while the deviation of the center of gravity of the second axis to the sixth axis is essentially a deviation in the horizontal direction, so the problem of imbalance of the seven-axis robot has not been substantially solved. SUMMARY

[0005] In order to make up for the shortcomings of the prior art, the present application provides a seven-axis robot running counterweight device, in the process of tilting the shoulder arm in one direction, the first counterweight arm will tilt in the opposite direction, so that the first counterweight arm can balance the deviation of the center of gravity caused by the tilting of the shoulder arm, realize the balance of the center of gravity of the seven-axis robot, so that the running stability of the seven-axis robot is improved.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows: A seven-axis robot running counterweight device of this invention includes a ground rail and a base slidably and drivenly connected to the upper surface of the ground rail; a U-shaped rotating seat is rotatably and drivenly connected to the top of the base; a Y-shaped shoulder arm is rotatably and drivenly connected to the inner side of the top of the rotating seat; a large arm is rotatably and drivenly connected to the inner side of the top of the shoulder arm; a forearm is rotatably and drivenly connected to the end of the large arm; a wrist arm is rotatably and drivenly connected to the inner side of the end of the forearm; a finger arm is rotatably and drivenly connected to the end of the wrist arm; a drive shaft driven by a drive assembly is rotatably connected to the top of the rotating seat; the shoulder arm... The lower end is fixedly connected to the middle section of the drive shaft; the top two sides of the rotating base are provided with first counterweight arms; the two first counterweight arms are provided with an annular groove on their side close to each other; the rotational cross section of the annular groove is convex; an annular bar fixedly connected to the rotating base is rotatably connected in the annular groove; a circular groove is provided at the center of the side close to each other of the two first counterweight arms; the end of the drive shaft extends into the circular groove; the end of the drive shaft is fixedly connected to a first gear; the first gear meshes with a third tooth on the inner wall of the circular groove through a second gear; the second gear is rotatably connected to the rotating base; the other end of the first counterweight arm faces upward and is located away from the circular groove.

[0007] Preferably, the first counterweight arm has a driving groove and a driven groove respectively located near and away from the circular groove; the driving groove and the driven groove are connected by a rod groove; a driving rod is movably connected in the rod groove; the driving groove is connected to the bottom of the annular groove; a fourth gear is rotatably connected in the driving groove and fixedly connected to the driving rod; a fourth tooth that meshes with the fourth gear is provided on the side of the annular bar near the fourth gear; an arm hole is provided through the driven groove outward; an arm rod is rotatably connected in the arm hole; a first bevel gear and a second bevel gear are rotatably connected in the driven groove; the first bevel gear is fixedly connected to the driving rod; the second bevel gear is fixedly connected to one end of the arm rod; the other end of the arm rod is connected to a second counterweight arm; the second counterweight arm is located outside the first counterweight arm.

[0008] Preferably, a first threaded hole is provided on the outer side of the second counterweight arm away from the arm rod; a first bolt is threaded into the first threaded hole; and multiple counterweight rings are fitted onto the threaded portion of the first bolt.

[0009] Preferably, the second counterweight arm is composed of an upper second arm and a lower second arm; the arm is connected to the inner side of the upper second arm; the first threaded hole is located on the outer side of the lower second arm; an adjustment groove is provided on the side of the lower second arm near the upper second arm; an adjustment bar with multiple adjustment holes is slidably connected in the adjustment groove; an insertion hole is horizontally provided through the adjustment groove; a pin is movably connected in the insertion hole; the pin can be inserted into the adjustment hole; the adjustment bar is fixedly connected to the upper second arm.

[0010] Preferably, the outer wall of the middle section of the pin is provided with an annular locking groove; the axial length of the locking groove is adapted to the thickness of the adjusting strip.

[0011] Preferably, the first counterweight arm is composed of an upper arm and a lower arm; a guide hole is provided on the side of the upper arm near the lower arm; a guide rod is slidably connected in the guide hole; the guide rod is fixedly connected to the lower arm; the driven groove is located inside the upper arm, and the driving groove is located inside the lower arm; the driving rod is composed of an upper rod and a lower rod; a spiral groove is provided on the inner wall of the rod groove; a rod block is movably connected in the spiral groove; the rod block is fixedly connected to the arc-shaped outer wall of the lower rod; a square groove is provided on the side of the lower rod facing the upper rod; a square rod is slidably connected in the square groove; the square rod is fixedly connected to the upper rod.

[0012] Preferably, the upper inner wall of the rod groove is provided with an annular upper auxiliary groove; an upper auxiliary ring is rotatably connected in the upper auxiliary groove; the upper auxiliary ring is fixedly connected to the upper rod; the lower inner wall of the rod groove is provided with an annular lower auxiliary groove; a lower auxiliary ring is rotatably connected in the lower auxiliary groove; the lower auxiliary ring is fixedly connected to the lower rod.

[0013] Preferably, a replacement hole is provided on the inner side of the second counterweight arm at a position corresponding to the arm rod; the end of the arm rod away from the second bevel gear is inserted into the replacement hole; a second threaded hole is provided through the replacement hole facing outward; a second bolt is threaded into the second threaded hole.

[0014] Preferably, the arc-shaped outer wall of the arm is provided with multiple locking holes along the circumference; the second bolt can be inserted into the corresponding locking holes.

[0015] Preferably, the first counterweight arm and the second counterweight arm are flat and plate-shaped.

[0016] The beneficial effects of this invention are as follows: 1. During the tilting of the shoulder arm in one direction, the first counterweight arm tilts in the opposite direction. This allows the first counterweight arm to balance the center of gravity deviation caused by the tilting of the shoulder arm, thereby achieving center of gravity balance of the seven-axis robot and improving the operational stability of the seven-axis robot.

[0017] 2. In this invention, the rotation of the boom will drive the second counterweight arm to rotate. As the first counterweight arm tilts with the shoulder arm, the second counterweight arm will tilt away from the pivot, making the overall eccentricity of the second and first counterweight arms further away, thus improving the gravity balance effect on the shoulder arm.

[0018] 3. In this invention, during the movement of the rod block on the outer wall of the lower rod along the spiral groove, the first upper arm will separate from the first lower arm. The first upper arm will drive the guide rod to slide along the guide hole. Under the guidance of the guide rod, the first upper arm stably moves away from the first lower arm, which increases the length of the first counterweight arm. This makes the first counterweight arm more deviated from the center of the pivot after tilting, further improving the eccentric counterweight balance effect of the first counterweight arm on the shoulder arm. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a perspective view of the present invention; Figure 2 This is a positional diagram of the first gear and the second gear in this invention; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a perspective view of the first counterweight arm and the second counterweight arm in this invention; Figure 5 This is a partial cross-sectional view of the present invention; Figure 6 This is a cross-sectional view of the first counterweight arm and the second counterweight arm in this invention; Figure 7 This is a cross-sectional view of the guide hole in this invention; Figure 8 This is a cross-sectional view of the adjusting groove in this invention.

[0021] In the diagram: Rotary base 1, Ground rail 11, Base 12, Shoulder arm 13, Upper arm 14, Forearm 15, Wrist arm 16, Finger arm 17, Drive shaft 18, First counterweight arm 2, Annular groove 21, Circular groove 22, Third tooth 23, Drive groove 24, Driven groove 25, Rod groove 26, Spiral groove 261, Rod block 262, Upper auxiliary groove 263, Upper auxiliary ring 264, Lower auxiliary groove 265, Lower auxiliary ring 266, Arm hole 27, First upper arm 28, Guide hole 281, Guide rod 282, First lower arm 29, Annular bar 3, ... 31. Four-tooth gear, 4. First gear, 41. Second gear, 5. Drive rod, 5. Fourth gear, 51. First bevel gear, 52. Upper rod, 53. Lower rod, 54. Square groove, 55. Square rod, 56. Arm, 6. Second bevel gear, 61. Locking hole, 62. Second counterweight arm, 7. Second bolt, 70. First threaded hole, 71. First bolt, 72. Counterweight ring, 73. Second upper arm, 74. Second lower arm, 75. Adjustment groove, 76. Insertion hole, 77. Replacement hole, 78. Second threaded hole, 79. Adjustment bar, 81. Adjustment hole, 82. Pin, 83. Locking groove. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0023] like Figures 1 to 8 As shown, the present invention includes the following embodiments: Example 1: A counterweight device for a seven-axis robot includes a ground rail 11 and a base 12 slidably and drivenly connected to the upper surface of the ground rail 11; a U-shaped rotating seat 1 is rotatably and drivenly connected to the top of the base 12; a Y-shaped shoulder arm 13 is rotatably and drivenly connected to the inner side of the top of the rotating seat 1; a large arm 14 is rotatably and drivenly connected to the inner side of the top of the shoulder arm 13; a forearm 15 is rotatably and drivenly connected to the end of the large arm 14; a wrist arm 16 is rotatably and drivenly connected to the inner side of the end of the forearm 15; a finger arm 17 is rotatably and drivenly connected to the end of the wrist arm 16; a drive shaft 18 driven by a drive assembly is rotatably connected to the top of the rotating seat 1; the lower end of the shoulder arm 13 is connected to the middle section of the drive shaft 18. Fixed connection; the top two sides of the rotating base 1 are provided with first counterweight arms 2; the two first counterweight arms 2 are provided with annular grooves 21 on the side close to each other; the rotational cross section of the annular groove 21 is convex; annular strips 3 fixedly connected to the rotating base 1 are rotatably connected in the annular groove 21; a circular groove 22 is provided at the center of the side close to each other of the two first counterweight arms 2; the end of the drive shaft 18 extends into the circular groove 22; the end of the drive shaft 18 is fixedly connected to a first gear 4; the first gear 4 meshes with the third tooth 23 on the inner wall of the circular groove 22 through a second gear 41; the second gear 41 is rotatably connected to the rotating base 1; the other end of the first counterweight arm 2 is facing upward and away from the circular groove 22.

[0024] During the operation of the seven-axis robot, the base 12 slides along the length of the ground rail 11 under control. The rotating seat 1 can rotate freely on the top of the base 12. The shoulder arm 13 can rotate on the inner side of the top of the rotating seat 1 along with the rotation of the drive shaft 18. The drive shaft 18 is rotatably connected to the top of the rotating seat 1 and is driven by a corresponding drive component (not shown in the figure). The upper arm 14 can rotate on the inner side of the top of the shoulder arm 13 under control. The forearm 15 can rotate at the end of the upper arm 14 under control. The wrist arm 16 can rotate at the end of the forearm 15 under control. The finger arm 17 rotates at the end of the wrist arm 16 under control, just like a "finger". Through the flexible cooperation of the ground rail 11, base 12, rotating seat 1, shoulder arm 13, upper arm 14, forearm 15, wrist arm 16 and finger arm 17, the stable operation of the seven-axis robot is achieved.

[0025] During the forced rotation of the drive shaft 18, the shoulder arm 13 causes the upper arm 14, forearm 15, wrist arm 16, and finger arm 17 to deviate from the rotary table 1. This is especially problematic when the finger arm 17 handles heavy objects, further destabilizing the seven-axis robot. To address this issue, a first counterweight arm 2 is rotatably connected to the outer top of the rotary table 1. As the lower end of the shoulder arm 13 rotates with the drive shaft 18, the drive shaft 18 drives the first gear 4 at its end to rotate. The rotation of the first gear 4 then drives the meshing second gear 41 to rotate. The second gear 41 meshes with the third tooth 23 on the arc-shaped inner wall of the circular groove 22, thus causing the circular groove 22 to rotate. The groove 22 is set on the first counterweight arm 2, so the first counterweight arm 2 will rotate around the center of the annular groove 21. The annular groove 21 and the annular bar 3 will rotate. The rotational cross section of the annular bar 3 and the annular groove 21 is convex, so the annular bar 3 will not detach from the annular groove 21, so that the first counterweight arm 2 will not detach from the top outer wall of the rotating seat 1. The first counterweight arm 2 will rotate with the rotation of the shoulder arm 13. When the drive shaft 18 rotates in the forward direction, the first gear 4 will rotate in the forward direction, the second gear 41 will rotate in the reverse direction, and the third tooth 23 will drive the circular groove 22 to rotate in the reverse direction. Thus, when the shoulder arm 13 tilts in one direction, the first counterweight arm 2 will tilt in the opposite direction. This allows the first counterweight arm 2 to balance the center of gravity deviation caused by the tilting of the shoulder arm 13, thus achieving the center of gravity balance of the seven-axis robot and improving the operational stability of the seven-axis robot. In addition, in this embodiment, the shoulder arm 13 tilts in two directions. When it tilts in either direction, the first counterweight arm 2 will adaptively tilt in the opposite direction.

[0026] Example 2: A drive groove 24 and a driven groove 25 are respectively provided inside the first counterweight arm 2 near the circular groove 22 and away from the circular groove 22; a rod groove 26 is provided connecting the drive groove 24 and the driven groove 25; a drive rod 5 is movably connected in the rod groove 26; the drive groove 24 is connected to the bottom of the annular groove 21; a fourth gear 51 fixedly connected to the drive rod 5 is rotatably connected in the drive groove 24; a fourth tooth 31 that meshes with the fourth gear 51 is provided on the side of the annular bar 3 near the fourth gear 51; an arm hole 27 is provided through the driven groove 25 outward; an arm rod 6 is rotatably connected in the arm hole 27; a first bevel gear 52 and a second bevel gear 61 are rotatably connected in the driven groove 25; the first bevel gear 52 is fixedly connected to the drive rod 5; the second bevel gear 61 is fixedly connected to one end of the arm rod 6; the other end of the arm rod 6 is connected to a second counterweight arm 7; the second counterweight arm 7 is located outside the first counterweight arm 2.

[0027] In this embodiment, a first threaded hole 71 is provided on the outer side of the second counterweight arm 7 away from the arm 6; a first bolt 72 is internally threaded into the first threaded hole 71; and a plurality of counterweight rings 73 are sleeved on the threaded portion of the first bolt 72.

[0028] During the rotation of the shoulder arm 13 around the center of the drive shaft 18, the drive shaft 18 itself will rotate with the rotation of the shoulder arm 13. During the rotation of the drive shaft 18, the first counterweight arm 2 will rotate in the opposite direction. As a result, during the tilting of the shoulder arm 13 to one side, the end of the first counterweight arm 2 away from the circular groove 22 will tilt in the opposite direction. The end of the first counterweight arm 2 away from the circular groove 22 is rotatably connected to the second counterweight arm 7. During the rotation of the annular groove 21 and annular bar 3 of the first counterweight arm 2, the fourth gear 51 meshes with the fourth tooth 31, causing the fourth gear 51 to rotate along with the rotation of the first counterweight arm 2. The rotation of the fourth gear 51 drives the fixedly connected drive rod 5 to rotate, which in turn drives the first bevel gear 52 to rotate. The rotation of the first bevel gear 52 then drives the second bevel gear 61 to rotate, which in turn drives the arm 6 to rotate within the arm hole 27. The rotation of the arm 6 then drives the second counterweight arm 7 to rotate. Thus, during the tilting process of the first counterweight arm 2 with the shoulder arm 13… The second counterweight arm 7 will tilt away from the rotating base 1, making the overall eccentricity of the second counterweight arm 7 and the first counterweight arm 2 further away, thus improving the gravity balance effect on the shoulder arm 13. Furthermore, a first threaded hole 71 is provided at a position away from the arm rod 6 on the second counterweight arm 7. By increasing or decreasing the number of counterweight rings 73, the mass of each eccentric counterweight is adjusted so that the balancing mass is adapted to the mass that needs to be balanced. The mass that needs to be balanced includes the total weight of the shoulder arm 13, the upper arm 14, the lower arm 15, the wrist arm 16, the finger arm 17, and the product being lifted. The first bolt 72 is tightened in the first threaded hole 71 to fix the multiple counterweight rings 73.

[0029] Example 3: The second counterweight arm 7 is composed of an upper second arm 74 and a lower second arm 75; the arm rod 6 is connected to the inner side of the upper second arm 74; the first threaded hole 71 is located on the outer side of the lower second arm 75; the lower second arm 75 is provided with an adjustment groove 76 on the side near the upper second arm 74; an adjustment bar 8 with multiple adjustment holes 81 is slidably connected in the adjustment groove 76; an insertion hole 77 is horizontally provided through the adjustment groove 76; a pin 82 is movably connected in the insertion hole 77; the pin 82 can be inserted into the adjustment hole 81; the adjustment bar 8 is fixedly connected to the upper second arm 74.

[0030] In this embodiment, an annular locking groove 83 is provided on the outer wall of the middle section of the pin 82; the axial length of the locking groove 83 is adapted to the thickness of the adjusting strip 8.

[0031] Before using the second counterweight arm 7 to balance the eccentric gravity of the shoulder arm 13, the length of the second counterweight arm 7 can be adjusted. A longer second counterweight arm 7 allows it to extend a greater distance as the first counterweight arm 2 tilts, increasing the counterweight weight. Conversely, a shorter second counterweight arm 7 extends a shorter distance as the first counterweight arm 2 tilts, reducing the counterweight weight and improving versatility. Specifically, the pin 82 can be pulled out of the socket 77. During this process, the pin 82 will also be pulled out of the adjustment hole 81 on the adjustment bar 8, unlocking the adjustment slot 76 from the adjustment bar 8. Then, the adjustment bar 8 can be controlled to move within the adjustment slot. The position within 76 changes the overall length of the second counterweight arm 7. After adjusting the length of the second counterweight arm 7, the pin 82 is simultaneously inserted into the insertion hole 77 and the adjustment hole 81 to lock the adjustment bar 8 within the adjustment, thus locking the length of the second counterweight arm 7. Furthermore, an annular locking groove 83 is provided on the outer wall of the middle section of the pin 82. Under the gravity of the second lower arm 75, the adjustment hole 81 on the adjustment bar 8 will be stuck in the locking groove 83. The setting of the locking groove 83 will make the overall shape of the pin 82 dumbbell-shaped, thus making the pin 82 more stable in the insertion hole 77 and less likely to fall off. If it is necessary to pull out the pin 82, it is necessary to re-align the adjustment hole 81 and the insertion hole 77.

[0032] Example 4: The first counterweight arm 2 is composed of an upper arm 28 and a lower arm 29. A guide hole 281 is provided on the side of the upper arm 28 near the lower arm 29. A guide rod 282 is slidably connected within the guide hole 281. The guide rod 282 is fixedly connected to the lower arm 29. A driven groove 25 is located inside the upper arm 28, and a drive groove 24 is located inside the lower arm 29. The drive rod 5 is composed of an upper rod 53 and a lower rod 54. A spiral groove 261 is provided on the inner wall of the rod groove 26. A rod block 262 is movably connected within the spiral groove 261. The rod block 262 is fixedly connected to the arc-shaped outer wall of the lower rod 54. A square groove 55 is provided on the side of the lower rod 54 facing the upper rod 53. A square rod 56 is slidably connected within the square groove 55. The square rod 56 is fixedly connected to the upper rod 53.

[0033] In this embodiment, an annular upper auxiliary groove 263 is provided on the upper inner wall of the rod groove 26; an upper auxiliary ring 264 is rotatably connected in the upper auxiliary groove 263; the upper auxiliary ring 264 is fixedly connected to the upper rod 53; an annular lower auxiliary groove 265 is provided on the lower inner wall of the rod groove 26; a lower auxiliary ring 266 is rotatably connected in the lower auxiliary groove 265; the lower auxiliary ring 266 is fixedly connected to the lower rod 54.

[0034] During the rotation of the first lower arm 29 around the first gear 4, the fourth gear 51 meshes with the fourth tooth 31, causing the fourth gear 51 and the drive rod 5 to rotate. This causes the second counterweight arm 7 to rotate and unfold around the arm 6. During the rotation of the drive rod 5, the rod block 262 fixedly connected to the outer surface of the lower rod 54 in the drive rod 5 moves with the spiral groove 261. After moving along the spiral groove 261, the rod block 262 moves away from the driven groove 25, thus causing the lower rod 54 to move away from the upper rod 53. Since the side of the lower rod 54 closest to the upper rod 53 is provided with a square groove 55, and a square rod is slidably connected in the square groove 55. 56, so that as the lower rod 54 moves away from the upper rod 53, the square rod 56 will slide in the square groove 55. The square rod 56 will rotate with the rotation of the lower rod 54. The square rod 56 is fixedly connected to the upper rod 53, so the square rod 56 will drive the upper rod 53 to rotate. During the rotation of the upper rod 53, it will drive the first bevel gear 52 and the second bevel gear 61 to mesh and transmit power. During the rotation of the upper rod 53, it will drive the upper auxiliary ring 264 to rotate. During the rotation of the upper auxiliary ring 264, it will rotate in the upper auxiliary groove 263. In this way, the upper rod 53 rotates stably inside the first upper arm 28, and the upper rod 53 will not detach from the first upper arm 28. Similarly, during the rotation of the lower rod 54, the lower auxiliary ring 266 on the outer surface will rotate. The lower auxiliary ring 266 will rotate within the lower auxiliary groove 265, thus ensuring the lower rod 54 rotates stably within the first lower arm 29. The lower rod 54 will not detach from the first lower arm 29. As the rod block 262 on the outer wall of the lower rod 54 moves along the spiral groove 261, the first upper arm 28 will separate from the first lower arm 29. The first upper arm 28 will drive the guide rod 282 to slide along the guide hole 281. Guided by the guide rod 282, the first upper arm 28 stably moves away from the first lower arm 29, increasing the length of the first counterweight arm 2. After tilting, the first counterweight arm 2 is further offset from the center of the rotating seat 1, which further improves the eccentric counterweight balance effect of the first counterweight arm 2 on the shoulder arm 13. During the process of the shoulder arm 13 changing from the tilted state to the vertical state, the drive shaft 18 will rotate back to its original position, the fourth gear 51 will rotate in the opposite direction, the drive rod 5 will rotate in the opposite direction, and the rod block 262 on the outer wall of the lower rod 54 will move in the opposite direction along the spiral groove 261. This makes the square rod 56 close to the bottom of the square groove 55, the upper rod 53 close to the lower rod 54, the guide rod 282 close to the bottom of the guide hole 281, and the first upper arm 28 close to the first lower arm 29, so that the overall length of the first counterweight arm 2 becomes shorter.

[0035] Example 5: A replacement hole 78 is provided on the inner side of the second counterweight arm 7 at a position corresponding to the arm 6; the end of the arm 6 away from the second bevel gear 61 is inserted into the replacement hole 78; a second threaded hole 79 is provided through the replacement hole 78 outward; a second bolt 70 is threadedly connected to the second threaded hole 79.

[0036] In this embodiment, the arc-shaped outer wall of the arm 6 is provided with a plurality of locking holes 62 along the circumference; the second bolt 70 can be inserted into the corresponding locking hole 62.

[0037] During the loosening of the second bolt 70, the second bolt 70 moves within the second threaded hole 79, moving away from the corresponding arm 6 and disengaging from its contact with the corresponding arm 6. This unlocks the arm 6 within the replacement hole 78, allowing it to be pulled out and thus removing the second counterweight arm 7. After the arm 6 is inserted into the replacement hole 78, tightening the second bolt 70 causes it to press against the arc-shaped outer wall of the arm 6, locking the arm 6 to the replacement hole 78 and preventing it from being pulled out. Furthermore, multiple locking holes 62 are provided circumferentially on the arc-shaped outer wall of the arm 6. By inserting the second bolt 70 into the corresponding locking hole 62, the angle of the arm 6 within the replacement hole 78 is changed, thereby altering the initial angles of the first counterweight arm 2 and the second counterweight arm 7 to meet different counterweight requirements.

[0038] Example 6: The first counterweight arm 2 and the second counterweight arm 7 are flat and plate-shaped.

[0039] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance. In the description of the present invention, fixed connection refers to fixed connection.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A counterweight device for a seven-axis robot, comprising a ground rail and a base slidably and driven to the upper surface of the ground rail; a U-shaped rotating seat is rotatably and driven to the top of the base; a Y-shaped shoulder arm is rotatably and driven to the inner side of the top of the rotating seat; a large arm is rotatably and driven to the inner side of the top of the shoulder arm; a forearm is rotatably and driven to the end of the large arm; a wrist arm is rotatably and driven to the inner side of the end of the forearm; and a finger arm is rotatably and driven to the end of the wrist arm; characterized in that: The top of the rotating base is rotatably connected to a drive shaft driven by a drive assembly; the lower end of the shoulder arm is fixedly connected to the middle section of the drive shaft; first counterweight arms are provided on both sides of the top of the rotating base; an annular groove is provided on the side of the two first counterweight arms that are close to each other; the rotational cross section of the annular groove is convex; an annular bar fixedly connected to the rotating base is rotatably connected inside the annular groove; a circular groove is provided at the center of the side of the two first counterweight arms that are close to each other; the end of the drive shaft extends into the circular groove; a first gear is fixedly connected to the end of the drive shaft; the first gear meshes with a third tooth on the inner wall of the circular groove through a second gear; the second gear is rotatably connected to the rotating base; the other end of the first counterweight arm is facing upward and away from the circular groove.

2. The counterweight device for a seven-axis robot according to claim 1, characterized in that: The first counterweight arm has a driving groove and a driven groove located near and away from the circular groove, respectively. A rod groove connects the driving groove and the driven groove. A driving rod is movably connected within the rod groove. The driving groove communicates with the bottom of the annular groove. A fourth gear, fixedly connected to the driving rod, is rotatably connected within the driving groove. A fourth tooth, meshing with the fourth gear, is provided on the side of the annular bar near the fourth gear. An arm hole extends outward through the driven groove. An arm rod is rotatably connected within the arm hole. A first bevel gear and a second bevel gear are rotatably connected within the driven groove. The first bevel gear is fixedly connected to the driving rod. The second bevel gear is fixedly connected to one end of the arm rod. The other end of the arm rod is connected to a second counterweight arm, located outside the first counterweight arm.

3. The counterweight device for a seven-axis robot according to claim 2, characterized in that: The second counterweight arm has a first threaded hole on its outer side away from the arm; a first bolt is threaded into the first threaded hole; and multiple counterweight rings are fitted onto the threaded portion of the first bolt.

4. The counterweight device for a seven-axis robot according to claim 3, characterized in that: The second counterweight arm is composed of an upper second arm and a lower second arm; the arm is connected to the inner side of the upper second arm; the first threaded hole is located on the outer side of the lower second arm; the lower second arm has an adjustment groove on the side near the upper second arm; an adjustment bar with multiple adjustment holes is slidably connected in the adjustment groove; an insertion hole is horizontally provided through the adjustment groove; a pin is movably connected in the insertion hole; the pin can be inserted into the adjustment hole; the adjustment bar is fixedly connected to the upper second arm.

5. A counterweight device for a seven-axis robot according to claim 4, characterized in that: The outer wall of the middle section of the pin is provided with an annular locking groove; the axial length of the locking groove is adapted to the thickness of the adjusting strip.

6. The counterweight device for a seven-axis robot according to claim 2, characterized in that: The first counterweight arm is composed of an upper arm and a lower arm; a guide hole is provided on the side of the upper arm near the lower arm; a guide rod is slidably connected in the guide hole; the guide rod is fixedly connected to the lower arm; the driven groove is located inside the upper arm, and the driving groove is located inside the lower arm; the driving rod is composed of an upper rod and a lower rod; a spiral groove is provided on the inner wall of the rod groove; a rod block is movably connected in the spiral groove; the rod block is fixedly connected to the arc-shaped outer wall of the lower rod; a square groove is provided on the side of the lower rod facing the upper rod; a square rod is slidably connected in the square groove; the square rod is fixedly connected to the upper rod.

7. A counterweight device for a seven-axis robot according to claim 6, characterized in that: The upper inner wall of the rod groove is provided with an annular upper auxiliary groove; an upper auxiliary ring is rotatably connected in the upper auxiliary groove; the upper auxiliary ring is fixedly connected to the upper rod; the lower inner wall of the rod groove is provided with an annular lower auxiliary groove; a lower auxiliary ring is rotatably connected in the lower auxiliary groove; the lower auxiliary ring is fixedly connected to the lower rod.

8. A counterweight device for a seven-axis robot according to claim 2, characterized in that: A replacement hole is provided on the inner side of the second counterweight arm at a position corresponding to the arm rod; the end of the arm rod away from the second bevel gear is inserted into the replacement hole; a second threaded hole is provided through the replacement hole facing outward; a second bolt is threaded into the second threaded hole.

9. A counterweight device for a seven-axis robot according to claim 8, characterized in that: The arm's arc-shaped outer wall has multiple locking holes along its circumference; the second bolt can be inserted into the corresponding locking hole.

10. A counterweight device for a seven-axis robot according to claim 2, characterized in that: The first and second counterweight arms are flat and plate-shaped.

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