Robot load device and robot

Abstract

The utility model relates to a robot load device and a robot. The robot load device comprises a mounting base, at least one load disc and a locking piece. The mounting base comprises a mounting piece and a rotating shaft connected to the mounting piece. The load disc is rotatably connected to the mounting piece through a rotating shaft and has a geometric center, and the geometric center and the rotating shaft are arranged at an interval. And the locking piece is arranged between the rotating shaft and the load disc and is used for locking the load disc on the mounting seat. The inertia and the mass center position of the robot load device can be adjusted, the load adjusting requirement can be rapidly met, and the robot load device is suitable for load testing of various robots.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot loading device and a robot. Background Art

[0002] As a highly automated test equipment in the current automation industry, industrial robots are increasingly used in various automated production lines, and the load range of robots is constantly expanding and refining. During the development process, it is necessary to continuously develop and test robot products with various load attributes, and at the same time, during the production process, it is necessary to conduct corresponding field running verification according to the established load capacity.

[0003] Load blocks are used during testing of industrial robots. Even for robots of different brands with the same load, the load weight and center of mass position are generally different. When redesigning an industrial robot, it is generally necessary to redesign the corresponding load blocks, which is costly and complicated to operate. Utility Model Content

[0004] An embodiment of the present application provides a robot loading device, and an embodiment of the present application also provides a robot having the above-mentioned robot loading device.

[0005] In a first aspect, an embodiment of the present application provides a robot loading device, comprising a mounting seat, at least one load plate, and a locking member. The mounting seat comprises a mounting member and a rotating shaft, and the rotating shaft is connected to the mounting member. The load plate is rotatably connected to the mounting member through the rotating shaft, and the load plate has a geometric center, and the geometric center is spaced apart from the rotating shaft. The locking member is arranged between the rotating shaft and the load plate, and is used to lock the load plate to the mounting seat.

[0006] In some optional examples, the robot loading device also includes a connecting piece, the connecting piece includes a translational mating part and a rotating disk, the translational mating part is connected between the mounting piece and the rotating disk, the rotating disk is suitable for being connected to the load end of the robot; the rotating disk is provided with a plurality of positioning parts, the positioning parts are used to be detachably connected to the load end of the robot, and the plurality of positioning parts are arranged around the axis of the rotating disk.

[0007] In some optional examples, the rotating disk is provided with a first dividing groove, which is arranged around the axis of the rotating disk; the first dividing groove is suitable for cooperating with the reference scale at the load end to represent the angle of rotation of the rotating disk relative to the load end, and when the rotating disk rotates to different positions relative to the load end, the first dividing groove corresponding to the reference scale at the load end is different.

[0008] In some optional examples, the translation fitting portion is movably connected to the mounting member, and the mounting member can move along a first direction relative to the translation fitting portion.

[0009] In some optional examples, the translational fitting part has a first pair of marking surfaces, and the mounting part has a second pair of marking surfaces. The first pair of marking surfaces and the second pair of marking surfaces are flush with each other. The first pair of marking surfaces are provided with a first scale, and the second pair of marking surfaces are provided with a second scale. The first scale and the second scale are used to match the readings; the first scale is set along the first direction, and the second scale is set along the first direction; when the translational fitting part and the mounting part move relative to each other to different positions, the readings of the first scale and the second scale are different.

[0010] In some optional examples, the robot loading device further includes a positioning piece, which can be movably inserted into the translational matching part, and the mounting piece is provided with a positioning hole, and the positioning piece can be movably limited in the positioning hole to limit the relative position of the translational matching part and the mounting piece.

[0011] In some optional examples, the translational mating part is provided with a clearance groove, which runs through both sides of the translational mating part and is connected to the positioning hole, and the clearance groove extends along the first direction. The positioning piece can be movably inserted into the clearance groove and can move along the first direction in the clearance groove; there are multiple positioning holes, and the multiple positioning holes are arranged along the first direction.

[0012] In some optional examples, the mounting member is provided with a plurality of mounting through holes, and the plurality of mounting through holes are arranged at intervals along the second direction, and the rotating shaft can be selectively disposed in one of the mounting through holes, and the second direction is perpendicular to the direction of the axis.

[0013] In some optional examples, the load disk is a disk, the side wall of the load disk is a cylindrical surface, the geometric center is in the same line with the center of mass of the load disk, the center of mass of the load disk is located on the axis of the cylindrical surface, and the axis of the cylindrical surface is parallel to the axis of the rotating shaft.

[0014] In some optional examples, a third scale is provided on the side wall of the mounting member, and the third scale is arranged in a direction perpendicular to the axis of the cylindrical surface; a second dividing groove is provided on the side wall of the load disc, and the second dividing groove is arranged along the circumference of the load disc, and the second dividing groove and the third scale are used to cooperate to represent the rotation angle of the load disc relative to the mounting member, and when the load disc is rotated to different positions relative to the mounting member, the second dividing groove corresponding to the third scale is different.

[0015] In some optional examples, the rotating shaft passes through the mounting member and both ends of the rotating shaft protrude from the mounting member to carry a load plate. There are multiple load plates, and the multiple load plates are detachably arranged on the rotating shaft.

[0016] In a second aspect, an embodiment of the present application further provides a robot, comprising a load end and the above-mentioned robot load device, wherein the robot load device is detachably connected to the load end.

[0017] Compared with the prior art, in the robot loading device provided in the embodiment of the present application, the number of load plates is adjustable. When in use, the load plates can be added according to the test requirements of the robot to make it close to the required load weight. The load plate can rotate around the rotating axis relative to the mounting member, and the geometric center of the load plate and the rotating axis are arranged at intervals. The load plate is eccentrically arranged, and when the load plate rotates relative to the mounting member, the position of its center of mass will change. The load plate can adjust the center of mass by rotating. After the adjustment is completed, it is fixed to the mounting seat by a locking member, which can ensure stability during the test. The inertia and center of mass position of the robot loading device provided in the embodiment of the present application can be adjusted, which can quickly meet the load adjustment requirements, is suitable for load testing of various robots, improves test efficiency, and reduces test costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0020] Figure 2 It is a schematic diagram of the three-dimensional structure of a robot loading device provided in one embodiment of the present application.

[0021] Figure 3 yes Figure 2 Schematic diagram of the structure of the connecting parts of the robot loading device shown.

[0022] Figure 4 yes Figure 2 Schematic diagram of the structure of the mounting parts of the robot load device shown.

[0023] Figure 5 yes Figure 2 Schematic diagram of the structure of the load plate of the robot loading device shown.

[0024] Figure 6 yes Figure 2 A schematic structural diagram of another state of the robot loading device is shown.

[0025] Explanation of reference numerals: 100, robot load device; 10, mounting seat; 12, mounting member; 121, first pair of marking surfaces; 1212, first scale; 123, positioning hole; 125, mounting through hole; 127, third scale; 14, rotating shaft; 20, load plate; 21, cylindrical surface; 23, mounting hole; 25, second dividing groove; 30, locking member; 40, connecting member; 41, translational matching portion; 412, first pair of marking surfaces; 4121, first scale; 414, giving way groove; 43, rotating plate; 432, positioning portion; 434, first dividing groove; 45, connecting portion; 50, positioning member; 200, robot; 201, main body; 203, load end. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0027] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0028] See also Figure 1 An embodiment of the present application provides a robot load device 100 and a robot 200. The robot load device 100 can be applied to the robot 200 and is used to adjust the weight and center of mass position of the load of the robot 200 according to the test requirements of the robot 200.

[0029] This specification does not limit the specific type of the robot 200. For example, the robot 200 may be an industrial robot arm robot or a collaborative robot. In this embodiment, the robot 200 is an industrial robot. The robot 200 may include the robot load device 100, a body 201, and a load end 203. The load end 203 is connected to the body 201. The robot load device 100 is detachably connected to the load end 203, for example, detachably connected to the load end 203 via a flange.

[0030] Please also see Figure 1 and Figure 2 In this embodiment, the robot loading device 100 may include a mounting seat 10, at least one load plate 20, and a locking member 30. The mounting seat 10 is connected to the load end 203, and the mounting seat 10 may include a mounting member 12 and a rotating shaft 14, and the rotating shaft 14 is connected to the mounting member 12. The load plate 20 is rotatably connected to the mounting member 12 through the rotating shaft 14, and the load plate 20 has a geometric center G, and the geometric center G is spaced apart from the rotating shaft 14. The locking member 30 is disposed between the rotating shaft 14 and the load plate 20, and is used to lock the load plate 20 to the mounting seat 10.

[0031] The above-mentioned “geometric center” is understood to be the most central position of an object with a certain symmetry. In this embodiment, the geometric center is the most central position of the load disk 20. If the load disk 20 is a disk, the load center is located on the axis of the load disk 20. If the load disk 20 is a sphere, the load center is located at the center of the sphere.

[0032] In the robot loading device 100 provided in the embodiment of the present application, the number of load discs 20 is adjustable. When in use, the load discs 20 can be increased according to the test requirements of the robot 200 to make it close to the required load weight. The load disc 20 can rotate around the rotating shaft 14 relative to the mounting member 12, and the geometric center G of the load disc 20 is spaced from the rotating shaft 14. The load disc 20 is eccentrically arranged, and when the load disc 20 rotates relative to the mounting member 12, the position of its center of mass will change. After the load disc 20 is installed, the center of mass can be adjusted by rotation. After the adjustment is completed, it is fixed to the mounting seat 10 by the locking member 30, which can ensure stability during the test. The inertia and center of mass position of the robot loading device 100 provided in the embodiment of the present application can be adjusted, which can quickly meet the load adjustment requirements, is suitable for load testing of various robots 200, improves test efficiency, and reduces test costs.

[0033] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like 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 indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In this embodiment, the robot load device 100 may further include a connecting member 40, which is connected to the load end 203 of the robot 200. The connecting member 40 is movably connected to the mounting member 12, and the mounting member 12 can move relative to the connecting member 40 along the first direction X. The load plate 20 is connected to the mounting member 12, and the center of mass of the entire robot load device 100 can be changed when the mounting member 12 moves relative to the connecting member 40 along the first direction X. The cooperation between the connecting member 40 and the mounting member 12 increases the direction of center of mass adjustment and increases the applicable range of the robot load device 100.

[0035] The connecting member 40 may include a translational matching portion 41 and a rotating disk 43, wherein the translational matching portion 41 is connected between the rotating disk 43 and the mounting member 12. The rotating disk 43 is used to be connected to the load end 203, and the rotating disk 43 is generally in the shape of a disk. The rotating disk 43 is provided with a plurality of positioning portions 432, and the plurality of positioning portions 432 are used to be detachably connected to the load end of the robot 203, and the plurality of positioning portions 432 are arranged around the axis of the rotating disk 43.

[0036] When the rotating disk 43 is installed, it can be connected to the load end 203 through a plurality of positioning parts 432. If the position of the center of mass needs to be adjusted, the rotating disk 43 can be first removed from the load end 203, and the rotating disk 43 can be rotated around the axis of the rotating disk 43 to rotate relative to the load end 203, and then the rotating disk 43 can be fixed to the load end 203 again. When the rotating disk 43 rotates relative to the load end 203, the load disk 20 is driven to rotate together through the translation matching part 41 to achieve the adjustment of the center of mass position.

[0037] This specification does not limit the specific structure of the positioning portion 432. The positioning portion 432 can be a mounting bolt installed on the rotating disk 43, or the positioning portion 432 can also be a positioning hole formed on the rotating disk 43. In this embodiment, the positioning portion 432 is a positioning groove formed on the rotating disk 43, and multiple positioning grooves are evenly spaced around the axis of the rotating disk 43. As an example, a flange can be provided on the load end 203, and the rotating disk 43 can be connected to the flange on the load end 203 by fasteners such as screws, bolts, and pins. There can be multiple fasteners, and multiple fasteners are inserted into multiple positioning grooves and connected to the flange on the load end 203. In other embodiments, the positioning portion 432 is a waist-shaped groove, and the shapes and sizes of multiple positioning portions 432 are the same, and the angles of the central angles corresponding to the two ends of each positioning portion 432 are equal.

[0038] In order to facilitate the control of the rotation angle of the rotating disk 43 relative to the load end 203, in this embodiment, the load end 203 may be provided with a reference scale, which may be a groove opened on the flange of the load end 203, the groove extending along the radial direction of the rotating disk 43, and the reference scale may be marked as 0. The rotating disk 43 is provided with a first indexing groove 434, and the first indexing groove 434 is arranged around the axis of the rotating disk 43. The first indexing groove 434 is suitable for cooperating with the reference scale of the load end 203 to represent the rotation angle of the rotating disk 43 relative to the load end 203. When the rotating disk 43 rotates to different positions relative to the load end 203, the first indexing groove 434 corresponding to the reference scale of the load end 203 is different.

[0039] The first indexing groove 434 may include a plurality of grooves radially opened on the rotating disk 43. The present specification does not limit the specific arrangement of the first indexing groove 434. For example, the angle between two adjacent grooves of the first indexing groove 434 is 10°. The rotating disk 43 may also be provided with a digital mark corresponding to the first indexing groove 434 for easy identification. For example, the digital mark on the rotating disk 43 may include 0, 10, 20, 30, 330, 340, 350, etc. Before use, the rotating disk 43 is in the initial position, and the first indexing groove 434 marked as 0 on the rotating disk 43 is aligned with the reference scale of the load end 203. When adjusting the center of mass, first calculate the value to be adjusted, then rotate the rotating disk 43 relative to the load end 203 by a predetermined angle, and then fix the rotating disk 43 to the load end 203 through the positioning portion 432.

[0040] In order to facilitate observation of the first dividing groove 434, in the present embodiment, the first dividing groove 434 is formed on the end surface of the rotating disk 43 at one end close to the translational matching portion 41, and extends to the peripheral wall of the rotating disk 43, so that the operator can clearly distinguish the relative position between the first dividing groove 434 and the reference scale of the load end 203.

[0041] Please also see Figure 2 and Figure 3 The translational matching portion 41 is fixedly connected to the rotating disk 43 and is roughly in the shape of a cube. In order to facilitate the connection between the rotating disk 43 and the load end 203, in this embodiment, the connecting member 40 may further include a connecting portion 45, which is connected between the translational matching portion 41 and the rotating disk 43. The connecting portion 45 is roughly in the shape of a cylinder, the axis of the connecting portion 45 coincides with the axis of the rotating disk 43, and the outer diameter of the connecting portion 45 is smaller than the outer diameter of the rotating disk 43, so that fasteners such as bolts can be inserted from the positioning portion 432 and connected to the load end 203.

[0042] In this embodiment, the translational matching part 41 is slidably connected to the mounting member 12. This specification does not limit the direction of relative sliding between the translational matching part 41 and the mounting member 12. For example, the direction of relative sliding between the translational matching part 41 and the mounting member 12 is parallel to the first direction X, or intersects with the first direction X (for example, perpendicular). In this embodiment, the translational matching part 41 slides along the first direction X relative to the mounting member 12. The translational matching part 41 has a first marking surface 412, and the mounting member 12 has a second marking surface 121. The first marking surface 412 and the second marking surface 121 are flush. The first marking surface 412 is provided with a first scale 4121, and the second marking surface 121 is provided with a second scale 1212. The first scale 4121 and the second scale 1212 are used for matching readings. The first scale 4121 is arranged along the first direction X, and the second scale 1212 is arranged along the first direction X. When the translational matching portion 41 and the mounting member 12 move relatively to different positions, the readings of the first scale 4121 and the second scale 1212 are different.

[0043] The mounting member 12 moves relative to the translational matching portion 41 along the first direction X, which can change the center of mass position of the robot load device 100. The first scale 4121 and the second scale 1212 facilitate the operator to accurately adjust the center of mass position, thereby improving the convenience and applicability of the robot load device 100. When adjusting the center of mass, the value to be adjusted is first calculated, and then the mounting member 12 is moved relative to the translational matching portion 41 along the first direction X by a predetermined distance.

[0044] In this embodiment, the first marking surface 412 can be understood as a side surface of the translation matching portion 41, and the second marking surface 121 is a side surface of the mounting member 12. For the convenience of comparison, the first scale 4121 is arranged on a side of the first marking surface 412 close to the second marking surface 121, and the second scale 1212 is arranged on a side of the second marking surface 121 close to the first marking surface 412, so that the first scale 4121 and the second scale 1212 can be connected when the translation matching portion 41 and the mounting member 12 move relative to each other.

[0045] This specification does not limit the specific connection method between the translational matching part 41 and the mounting part 12. For example, the translational matching part 41 and the mounting part 12 can be connected by sliding grooves or slide rails, or the translational matching part 41 and the mounting part 12 can also be connected by sliding sleeves. In this embodiment, a slide rail is provided on the mounting part 12. Specifically, a strip-shaped protrusion is formed at the end of the mounting part 12. A step surface is formed between the strip-shaped protrusion and the end surface of the mounting part 12. The protrusion and the step surface extend along the first direction X to form a slide rail on the mounting part 12. The translational matching part 41 is provided with a slide groove, which passes through the translational matching part 41 along the first direction X. The translational matching part 41 is slidably sleeved on the slide rail of the mounting part 12 through the slide groove.

[0046] In order to facilitate the fixing of the translational matching part 41 and the mounting part 12, in this embodiment, the robot load device 100 further includes a positioning member 50, which can be movably inserted into the translational matching part 41. The mounting part 12 is provided with a positioning hole 123, and the positioning member 50 can be movably limited in the positioning hole 123 to limit the relative position of the translational matching part 41 and the mounting part 12. The positioning member 50 is inserted into the translational matching part 41 and limited in the positioning hole 123, thereby improving the connection stability between the translational matching part 41 and the mounting part 12. This specification does not limit the specific type of the positioning member 50, and the positioning member 50 may include at least one of fasteners such as a pin, a screw, and a bolt.

[0047] In this embodiment, in order to adapt to the change in position between the translational matching portion 41 and the mounting member 12 during relative movement, please refer to Figure 4 , the number of the positioning holes 123 is set to be multiple, and the multiple positioning holes 123 are arranged along the first direction X. The translational matching part 41 is provided with a clearance groove 414, which passes through both sides of the translational matching part 41 and is connected with the positioning holes 123. The clearance groove 414 passes through the translational matching part 41 along the second direction Z and extends along the first direction X, wherein the second direction Z is perpendicular to the first direction X. The positioning member 50 is movably inserted into the clearance groove 414 and can move in the clearance groove 414 along the first direction X. As an example, the positioning member 50 includes a bolt, the bolt is inserted into the clearance groove 414, the bolt head is clamped outside the clearance groove 414, and the other end of the bolt extends into the positioning hole 123 and is threadedly connected with the positioning hole 123. When the relative position between the translational matching part 41 and the mounting member 12 changes, the positioning member 50 is moved in the clearance groove 414 along the first direction X, and inserted into other positioning holes 123 for fixing. In this embodiment, a plurality of positioning members 50 may be provided, so as to further improve the connection stability between the translational matching portion 41 and the mounting member 12 .

[0048] The mounting member 12 is generally in the shape of a rectangular plate, and a plurality of mounting through holes 125 are provided on the mounting member 12, and the mounting through holes 125 are arranged at intervals along the second direction Z. The rotating shaft 14 can be selectively disposed in one of the mounting through holes 125, and the second direction Z is perpendicular to the direction of the axis 14. The load plate 20 is mounted on the mounting member 12 via the rotating shaft 14, and the rotating shaft 14 can be mounted on any of the mounting through holes 125. The plurality of mounting through holes 125 are arranged at intervals along the second direction Z, and the center of mass position of the robot load device 100 can be greatly adjusted by adjusting the position of the rotating shaft 14.

[0049] This specification does not limit the specific direction of the axial direction of the rotating shaft 14. For example, the axial direction of the rotating shaft 14 can be parallel to the first direction X, or can intersect with the first direction X (for example, disposed). In this embodiment, the axial direction of the rotating shaft 14 is arranged along the third direction Y, and the third direction Y, the first direction X, and the second direction Z are perpendicular to each other. The rotating shaft 14 is penetrated by the mounting member 12, and both ends of the rotating shaft 14 protrude from the mounting member 12 to carry the load plate 20. The number of load plates 20 can be provided in plurality, and the plurality of load plates 20 can be detachably arranged on the rotating shaft 14. By increasing or decreasing the number of load plates 20, the weight of the robot load device 100 can be matched according to a certain adjustment step.

[0050] Please also see Figure 2 and Figure 5 In this embodiment, the load disk 20 is a disk, and the side wall surface of the load disk 20 is a cylindrical surface 21. The geometric center G of the load disk 20 is in the same straight line with the center of mass of the load disk 20, and the center of mass of the load disk 20 is located on the axis P2P of the cylindrical surface 21, and the axis P2 of the cylindrical surface 21 is parallel to the axis P1 of the rotating shaft 14. Among them, the center of mass is the abbreviation of the center of mass, which refers to an imaginary point on the material system where the mass is considered to be concentrated. The load disk 20 is a disk, and its center of mass is on the axis of the load disk 20. The end face of the complex USB flash drive 20 and the center of each section are located on the axis of the load disk 20, that is, on the axis P2 of the cylindrical surface 21.

[0051] The load plate 20 is provided with a mounting hole 23, through which the load plate 20 is sleeved on the rotating shaft 14. The hole axis of the mounting hole 23 is parallel to and spaced from the geometric center G, so that the load plate 20 is eccentrically mounted on the rotating shaft 14. When the rotating shaft 14 drives the load plate 20 to rotate relative to the mounting member 12, the center of mass position of the load plate 20 can be changed.

[0052] This specification does not limit the specific connection method between the locking member 30 and the rotating shaft 14. For example, in this embodiment, the rotating shaft 14 can be a screw, the locking member 30 is a nut, the rotating shaft 14 is inserted into the installation through hole 125, the load disc 20 is sleeved on the rotating shaft 14, the locking member 30 is threadedly connected to the rotating shaft 14, and is tightened to abut against the load disc 20 to fix the load disc 20 to the mounting member 12. In other embodiments, the locking member 30 can also be inserted into the load disc 20 and directly connected to the mounting member 12.

[0053] In order to facilitate the control of the rotation angle of the load disc 20 relative to the mounting member 12, in this embodiment, a third scale 127 is provided on the side wall of the mounting member 12, and the third scale 127 is arranged in a direction perpendicular to the axis P2 of the cylindrical surface 21. The third scale 127 can be a groove opened on the mounting member 12, and the groove extends along the second direction Z. The third scale 127 can be marked as 0. The side wall surface of the load disc 20 is provided with a second indexing groove 25, and the second indexing groove 25 is arranged along the circumference of the load disc 20. The second indexing groove 25 and the third scale 127 are used to cooperate to represent the rotation angle of the load disc 20 relative to the mounting member 12. When the load disc 20 rotates to different positions relative to the mounting member 12, the second indexing groove 25 corresponding to the third scale 127 is different.

[0054] The second indexing groove 25 may include a plurality of grooves radially extending along the load disk 20. The present specification does not limit the specific arrangement of the second indexing groove 25. For example, the angle between two adjacent grooves of the second indexing groove 25 is 10°. The load disk 20 may also be provided with digital labels corresponding to the second indexing groove 25 for easy identification. For example, the digital labels on the load disk 20 may include 0, 10, 20, 30, 330, 340, 350, etc. Before use, the load disk 20 is in the initial position, and the second indexing groove 25 marked as 0 on the load disk 20 is aligned with the reference scale of the load end 203. Please refer to Figure 6 When adjusting the center of mass, the value to be adjusted is first calculated, and then the load plate 20 is rotated by a predetermined angle relative to the load end 203 , and then the load plate 20 is fixed to the mounting member 12 by the positioning member 50 .

[0055] In order to facilitate observation of the second indexing groove 25, in the present embodiment, the second indexing groove 25 is formed on the end surface of the load disk 20 close to the end away from the mounting member 12, and extends to the peripheral wall of the load disk 20, so that the operator can clearly distinguish the relative position between the second indexing groove 25 and the reference scale of the load end 203.

[0056] In summary, in the robot load device 100 provided in the embodiment of the present application, the number of load plates 20 is adjustable. When in use, the load plates 20 can be increased according to the test requirements of the robot 200 to make it close to the required load weight. The load plate 20 is eccentrically arranged. When the load plate 20 rotates relative to the mounting member 12, the position of its center of mass will change. When the rotating disk 43 rotates relative to the load end 203, the load plate 20 is driven to rotate together through the translation matching portion 41 to adjust the center of mass position. The mounting member 12 moves along the first direction X relative to the translation matching portion 41, which can change the center of mass position of the robot load device 100. The first scale 4121 and the second scale 1212 facilitate the operator to accurately adjust the center of mass position, thereby improving the convenience and applicability of the robot load device 100. The inertia and center of mass position of the robot load device 100 provided in the embodiment of the present application can be adjusted, which can quickly meet the load adjustment requirements, and is suitable for load testing of various robots 200, thereby improving the test efficiency and reducing the test cost.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot loading device, characterized in that: include: A mounting seat, the mounting seat comprising a mounting piece and a rotating shaft, the rotating shaft being connected to the mounting piece; at least one load plate, rotatably connected to the mounting member via the rotating shaft, the load plate having a geometric center, the geometric center being spaced apart from the rotating shaft; and a locking member, wherein the locking member is disposed between the rotating shaft and the load plate and is used to lock the load plate to the mounting seat.

2. The robot loading device according to claim 1, characterized in that: The robot loading device also includes a connecting piece, which includes a translational matching portion and a rotating disk, wherein the translational matching portion is connected between the mounting piece and the rotating disk, and the rotating disk is suitable for being connected to the load end of the robot; the rotating disk is provided with a plurality of positioning portions, and the positioning portions are used to be detachably connected to the load end of the robot, and the plurality of positioning portions are arranged around the axis of the rotating disk.

3. The robot loading device according to claim 2, characterized in that: The rotating disk is provided with a first dividing groove, which is arranged around the axis of the rotating disk; the first dividing groove is suitable for cooperating with the reference scale of the load end to represent the angle of rotation of the rotating disk relative to the load end, and when the rotating disk is rotated to different positions relative to the load end, the first dividing groove corresponding to the reference scale of the load end is different.

4. The robot loading device according to claim 2, characterized in that: The translation fitting portion is movably connected to the mounting member, and the mounting member can move along a first direction relative to the translation fitting portion.

5. The robot loading device according to claim 4, characterized in that: The translational matching portion has a first pair of marking surfaces, and the mounting member has a second pair of marking surfaces. The first pair of marking surfaces are flush with the second pair of marking surfaces. The first pair of marking surfaces are provided with a first scale, and the second pair of marking surfaces are provided with a second scale. The first scale and the second scale are used to match the readings; the first scale is set along the first direction, and the second scale is set along the first direction; when the translational matching portion and the mounting member move relatively to different positions, the readings of the first scale and the second scale are different.

6. The robot loading device according to claim 4, characterized in that: The robot loading device further comprises a positioning member, which is movably arranged in the translational matching portion, and the mounting member is provided with a positioning hole, and the positioning member is movably limited in the positioning hole to limit the relative position of the translational matching portion and the mounting member.

7. The robot loading device according to claim 6, characterized in that: The translational matching part is provided with a clearance groove, which passes through both sides of the translational matching part and is connected with the positioning hole, and the clearance groove extends along the first direction. The positioning member can be movably inserted into the clearance groove and can move in the clearance groove along the first direction; there are multiple positioning holes, and the multiple positioning holes are arranged along the first direction.

8. The robot loading device according to any one of claims 1 to 7, characterized in that: The mounting member is provided with a plurality of mounting through holes, and the plurality of mounting through holes are arranged at intervals along a second direction. The rotating shaft can be selectively arranged in one of the mounting through holes, and the second direction is perpendicular to the direction of the axis.

9. The robot loading device according to any one of claims 1 to 7, characterized in that: The load plate is a circular plate, the side wall of the load plate is a cylindrical surface, the geometric center and the center of mass of the load plate are on the same straight line, the center of mass of the load plate is located on the axis of the cylindrical surface, and the axis of the cylindrical surface is parallel to the axis of the rotating shaft.

10. The robot loading device according to claim 9, characterized in that: A third scale is provided on the side wall of the mounting member, and the third scale is arranged in a direction perpendicular to the axis of the cylindrical surface; a second dividing groove is provided on the side wall of the load disc, and the second dividing groove is arranged along the circumference of the load disc, and the second dividing groove and the third scale are used to cooperate to represent the rotation angle of the load disc relative to the mounting member, and when the load disc rotates to different positions relative to the mounting member, the second dividing groove corresponding to the third scale is different.

11. The robot loading device according to any one of claims 1 to 7, characterized in that: The rotating shaft passes through the mounting member and both ends of the rotating shaft protrude from the mounting member to carry the load disk. There are multiple load disks, and the multiple load disks are detachably mounted on the rotating shaft.

12. A robot, characterized in that: include: Load end; as well as The robot loading device according to any one of claims 1 to 11, wherein the robot loading device is detachably connected to the loading end.

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