Weight adjusting structure for changing load of six-degree-of-freedom industrial robot

Abstract

The utility model discloses a weight adjusting structure for changing the load of a six-degree-of-freedom industrial robot, which is characterized in that at least one group of load mounting holes for accommodating a hollow structure of a load-bearing unit is arranged on a balance body of an auxiliary rod of the robot, the load-bearing unit comprises a load-bearing main body, and the load-bearing main body is fixedly connected with a decorative cover plate; a plurality of bolt holes are formed in the edge of the decorative cover plate at equal intervals, mounting spigots with the diameter larger than that of the load mounting holes are formed in the outer edges of the load mounting holes, the mounting spigots are consistent with the outer contour of the decorative cover plate, and the depth of the mounting spigots is consistent with the thickness of the decorative cover plate; threaded blind holes in one-to-one correspondence with the bolt holes are formed in the mounting seam allowance, and the hanging load bearing unit is fixed in the load mounting hole through bolts. The load of the robot can be changed by adjusting the load, the problem that gaps are too large due to the fact that the faying faces of a plurality of casting parts cannot be perfectly matched is effectively solved, and the original product appearance and attractiveness are reserved.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, in particular to a weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot. Background Art

[0002] Load regulation for 6DOF industrial robots is a key technology that ensures that the robot can maintain optimal performance and safety when performing various tasks. By precisely adjusting the load, the robot can adapt to workpieces of different weights and shapes, thereby expanding its application range, from delicate electronic component assembly to heavy machinery handling. Load regulation helps the robot achieve optimal motion control in various working environments and avoid mechanical damage or performance degradation caused by overloading or underloading. In addition, it also helps to improve energy efficiency, reduce energy waste, and reduce long-term operating costs. Load regulation also enhances the flexibility of the robot, enabling it to quickly adapt to changes in production needs and improve production efficiency. In a human-robot collaborative environment, proper load regulation can ensure that the robot maintains a safe operating range when interacting with humans and reduce the risk of accidents.

[0003] In the prior art, in order to achieve load adjustment of the robot, the traditional technology is to fix the load to be mounted on the outer surface of one end of the auxiliary rod balance body with bolts at one end of the existing auxiliary rod balance body when the weight needs to be increased. Since the auxiliary rod and the mounted load are manufactured through a casting process, the mounted load and the outer surface of one end of the auxiliary rod balance body cannot perfectly fit, which not only increases the external volume but also leaves a large gap on the fitting surface. When the weight needs to be reduced and the external weight is unloaded, the processed surface will also be exposed to the outside, which will greatly affect the appearance of the product.

[0004] For example, the utility model with publication number CN220864031U discloses a robot joint for heavy loads. In this technical solution, the structure for adjusting the load is arranged on the outside, which has a great impact on the overall aesthetics of the product. Utility Model Content

[0005] In order to solve the problems existing in the prior art, the purpose of the utility model is to disclose a weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot, which can not only realize the change of the load of the robot by adjusting the weight, but also effectively avoid the problem of excessive gaps caused by the failure of perfect fit between the fitting surfaces of multiple castings, thereby retaining the original product appearance and aesthetics.

[0006] To achieve the above-mentioned effect, the present application discloses a weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot, wherein at least one group of load mounting holes of a hollow structure for accommodating a mounted load-bearing unit is arranged on the balancing body of the robot's auxiliary rod, and the mounted load-bearing unit includes a load-bearing body, and the load-bearing body is fixedly connected to a decorative cover plate, and a plurality of bolt holes are equidistantly arranged on the edge of the decorative cover plate, and an outer edge of the load mounting hole is provided with a mounting stopper with a diameter greater than the diameter of the load mounting hole, and the mounting stopper is consistent with the outer contour of the decorative cover plate and the depth of the mounting stopper is consistent with the thickness of the decorative cover plate, and a threaded blind hole corresponding to the bolt hole is arranged in the mounting stopper, and the mounted load-bearing unit is fixed in the load mounting hole by bolts.

[0007] Furthermore, a gasket is provided between the bolt and the bolt hole.

[0008] Furthermore, the load-bearing body is in the shape of a cylinder, and the load-bearing unit controls the load-bearing weight of the load-bearing body by changing the diameter and height of the cylinder of the load-bearing body.

[0009] Furthermore, the cylindrical height of the weight-bearing body is smaller than the depth of the load-bearing mounting hole, and the diameter of the weight-bearing body is smaller than the inner diameter of the load-bearing mounting hole.

[0010] Furthermore, a recessed groove corresponding to the bolt hole is provided at the bolt hole position on the device cover plate, and the depth of the recessed groove is less than the thickness of the decorative cover plate and greater than the height of the bolt head.

[0011] Furthermore, the end of the threaded blind hole is a tapered tapered structure.

[0012] The beneficial effects of the utility model include:

[0013] The novel structure disclosed herein is a weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot. The load is increased by fixing a mounted load unit inside a balancing body of an original robot sub-rod. The appearance and volume of the robot sub-rod after the load is increased are designed in advance at the beginning of the design. Sufficient internal space and mounting stop for a load mounting hole are reserved inside the lower end of the balancing body to ensure the weight of the balancing body. When the load needs to be increased to change the load of the robot, the mounted load can be inserted into the reserved internal space and fixed to the mounting stop at one end of the sub-rod by bolts. The size of the load can be easily changed by changing the diameter of the mounted load insertion body. When the load needs to be unloaded, the mounted load can be unloaded. Moreover, the purpose of multiple loads of the robot can be easily achieved by replacing mounted weights of different diameters without affecting the appearance.

[0014] Compared with the traditional method, the utility model can not only achieve the purpose of changing the various loads of the robot by increasing or decreasing the weight of the balance body from the inside, but also effectively avoid the problem of excessive gaps caused by the inability to perfectly fit the fitting surfaces of multiple castings, thereby retaining the original product appearance and aesthetics. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 The utility model discloses a schematic diagram of the structure of a sub-rod and a balancing body of a six-degree-of-freedom industrial robot.

[0017] Figure 2 It is a cross-sectional structural diagram of the mounting weight unit and the load mounting hole of the utility model.

[0018] Figure 3 It is a structural schematic diagram of the mounting load-bearing unit of the utility model.

[0019] Figure 4 It is a structural schematic diagram of the mounting load-bearing unit of the utility model from another perspective.

[0020] Figure 5 It is a side view of the auxiliary rod and the balancing body of the utility model.

[0021] Figure 6 It is a cross-sectional view of the bolt positioning position of the utility model.

[0022] Among them: 1. Robot sub-rod, 2. Balance body, 3. Mounting load unit, 4. Load mounting hole, 6. Mounting stopper, 7. Threaded blind hole, 8. Bolt, 9. Washer, 31. Load body, 32. Decorative cover, 33. Bolt hole, 34. Sink, DETAILED DESCRIPTION

[0023] The specific implementation methods of the utility model are further described in detail below in combination with the accompanying drawings. However, the following embodiments only list preferred embodiments, which only serve to explain and help understand the utility model and cannot be understood as limiting the utility model.

[0024] refer to Figure 1-6, a weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot, two groups of load mounting holes 4 of a hollow structure for accommodating a mounted load unit 3 are arranged on the balance body 2 of the robot sub-rod 1, the mounted load unit 3 includes a load body 31, the load body is fixedly connected to a decorative cover plate 32, a plurality of bolt holes 33 are equidistantly arranged on the edge of the decorative cover plate 32, an outer edge of the load mounting hole is provided with a mounting stop 6 with a diameter greater than the diameter of the load mounting hole 4, the mounting stop is consistent with the outer contour of the decorative cover plate and the depth of the mounting stop is consistent with the thickness of the decorative cover plate, a threaded blind hole 7 corresponding to the bolt hole is arranged in the mounting stop, and the mounted load unit 3 is fixed in the load mounting hole 4 by bolts 8.

[0025] Through the above-mentioned technical solution of changing the weight adjustment structure of the load of the six-degree-of-freedom industrial robot. On the balance body 2 of the robot sub-rod 1, two groups of load mounting holes 4 for accommodating the mounting weight unit 3 are provided. The mounting weight unit 3 includes a weight body 31 and a decorative cover plate 32. During installation, the weight body is installed in the load mounting hole 4 by bolts 8, and the mounting stop 6 of the decorative cover plate 32 on the outer edge of the mounting hole is fixed to adjust the load weight of the robot sub-rod. The position and number of the weight unit 3 can be used to fine-tune the weight of the robot sub-rod 1, improve the flexibility and accuracy of the robot, and improve work efficiency. The weight unit 3 is fixed by bolts 8, and the weight unit can be easily adjusted and replaced, which improves the convenience of equipment maintenance and adjustment. The weight unit 3 has good structural matching with the load mounting hole 4, which ensures the stability of the adjustment process and the stability of the equipment operation. Through the setting of the decorative cover plate 32, the machine not only meets the functionality, but also takes into account the aesthetics, thereby improving the overall appearance of the robot.

[0026] Preferably, a washer 9 is provided between the bolt and the bolt hole to ensure the stability of the bolt.

[0027] More preferably, the load-bearing body 31 is in the shape of a cylinder, and the load-bearing unit 3 controls the load-bearing weight of the load-bearing body by changing the diameter and height of the cylinder of the load-bearing body. The height of the cylinder of the load-bearing body is less than the depth of the load-bearing installation hole 4, and the diameter of the load-bearing body is less than the inner diameter of the load-bearing installation hole.

[0028] Such a structure can ensure that the load-bearing body can be installed in the load mounting hole.

[0029] As a more preferred embodiment, refer to Figure 6 The bolt hole 33 on the device cover plate 32 is provided with a recessed groove 34 corresponding to the bolt hole, the depth of which is less than the thickness of the decorative cover plate and greater than the height of the bolt head of the bolt 8. The end of the threaded blind hole 7 is a tapered tapered structure.

[0030] In this optimized embodiment, a corresponding recessed groove 34 is configured at the position of the bolt hole 33 on the decorative cover plate 32. The depth and diameter of the recessed groove are taken into consideration so that the bolt head of the bolt 8 can be completely hidden therein, maintaining the smoothness and neatness of the decorative cover plate after installation. The end of the threaded blind hole 7 is designed as a tapered tapered structure, which makes the bolt smoother when screwed in, prevents extrusion and damage to the bolt, and enhances the stability of the installation and the durability of the device.

[0031] The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot, characterized in that: At least one group of hollow load mounting holes (4) for accommodating a load-bearing unit (3) is provided on the balance body (2) of the robot auxiliary rod (1). The load-bearing unit (3) comprises a load-bearing body (31). The load-bearing body is fixedly connected to a decorative cover plate (32). The edge of the decorative cover plate (32) is provided with a plurality of bolt holes (33) at equal intervals. The outer edge of the load mounting hole is provided with a mounting stopper (6) having a diameter greater than the diameter of the load mounting hole (4). The mounting stopper is consistent with the outer contour of the decorative cover plate and the depth of the mounting stopper is consistent with the thickness of the decorative cover plate. The mounting stopper is provided with a threaded blind hole (7) corresponding to the bolt hole one by one. The load-bearing unit (3) is fixed to the load mounting hole (4) by bolts (8).

2. A weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot according to claim 1, characterized in that: A gasket (9) is also provided between the bolt and the bolt hole.

3. The weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot according to claim 1, characterized in that: The load-bearing body (31) is in the shape of a cylinder, and the load-bearing mounting unit (3) controls the load-bearing weight of the load-bearing body by changing the diameter and height of the cylinder of the load-bearing body.

4. The weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot according to claim 3, characterized in that: The cylindrical height of the weight-bearing body is smaller than the depth of the load-bearing installation hole (4), and the diameter of the weight-bearing body is smaller than the inner diameter of the load-bearing installation hole.

5. The weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot according to claim 1, characterized in that: A recessed groove (34) corresponding to the bolt hole is provided at the position of the bolt hole (33) on the decorative cover plate (32), and the depth of the recessed groove is less than the thickness of the decorative cover plate and greater than the height of the bolt head of the bolt (8).

6. The weight adjustment structure for changing the load of a six-degree-of-freedom industrial robot according to claim 1, characterized in that: The end of the threaded blind hole (7) is a tapered tapered structure.

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