Robot end load test fixture with variable mass and center of mass

Abstract

The utility model discloses a robot end load test fixture with variable mass and center of mass. The jig is used for being installed on a tail end connecting rod of the robot and comprises a horizontally-extending fixed-length adjusting rod, a plurality of load positioning installation holes are formed in the fixed-length adjusting rod side by side, one end of the fixed-length adjusting rod is in locking connection with the tail end connecting rod through a tail end locking block, and the other end of the fixed-length adjusting rod is in locking connection with the tail end locking block. At least one disc balancing weight is adjustably mounted on each load positioning mounting hole, a plurality of expansion mounting holes are formed in the circumference of each disc balancing weight, and the at least two expansion mounting holes in each disc balancing weight are connected and locked with the load positioning mounting holes respectively. According to the robot tail end load test fixture with the variable mass and mass center, the load blocks have different mass configurations, the load mass can be improved by increasing the number of the load blocks, the eccentric distance can be adjusted to change the position of the mass center of the load, and the actual machining working condition can be accurately simulated during robot simulation.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a robot end load testing fixture with a variable mass center of mass. Background Art

[0002] As a crucial tool for the transformation and upgrading of the manufacturing industry, industrial robots play a vital role in increasing production efficiency, improving product quality, and reducing labor intensity. They are also capable of operating in high-risk environments. Their research and development, manufacturing, and application have become a key indicator of the quality of high-end manufacturing. With rising labor costs and a shrinking working-age population, industrial robots have become a crucial option for replacing manual labor and improving production efficiency.

[0003] Industrial robots are typically tested for load and motion-related performance during operation. This testing requires the use of an end-load test fixture. An end-load test fixture is a crucial tool in robotics technology, used to simulate and test a robot's load capacity, maximum joint speed, motion jitter, and motion smoothness under actual operating conditions.

[0004] End-load test fixtures typically use fixed-mass load blocks, a design that presents numerous inconveniences. For example, adding or subtracting load weight or changing the load's center of mass requires redesign and remanufacturing, which not only prolongs the test cycle but also increases production and storage costs. It also makes it difficult to adjust load mass and inertia. Furthermore, traditional load blocks are typically fixed at the center of the end of the industrial robot, making them inaccurate for simulating actual machining conditions. Utility Model Content

[0005] In order to solve the above problems, the utility model provides a robot end load test fixture with a variable mass center of mass, in which the load blocks have different mass configurations, and the mass and center of mass can be changed. The load mass can be increased by increasing the number of load blocks, and the eccentric distance can be adjusted to change the center of mass position of the load. It can accurately simulate the actual processing conditions when performing robot simulation, which is convenient for debugging the machine performance.

[0006] According to one aspect of the present invention, a robot end load test fixture with a variable mass center of mass is provided, which is used to be installed on the end connecting rod of the robot, including a horizontally extending fixed-length adjustment rod, and a plurality of load positioning mounting holes are arranged side by side on the fixed-length adjustment rod. One end of the fixed-length adjustment rod is locked to the end connecting rod through an end locking block, and at least one disc counterweight block is adjustably mounted on each of the load positioning mounting holes, and a plurality of extended mounting holes are arranged on the circumference of the disc counterweight block, and at least two of the extended mounting holes on the disc counterweight block are respectively connected and locked with the plurality of load positioning mounting holes.

[0007] In some embodiments, the two sides of the end locking block are connected to one end of the fixed-length adjustment rod via two end locking screws, thereby locking the end connecting rod. This is beneficial in that it describes a specific method for locking the end connecting rod by the end locking block and the end of the fixed-length adjustment rod.

[0008] In some embodiments, each of the extended mounting holes is connected to each of the load positioning mounting holes by a plurality of counterweight locking screws.

[0009] In some embodiments, a spring washer is provided on the disc counterweight, which is beneficial in that the spring washer can be used to improve the tightness of the locking.

[0010] In some embodiments, the robot has a load capacity of 4 kg to 6 kg, and the disc counterweights have three different masses: 0.5 kg, 1 kg, and 2 kg. This is beneficial in that the robot's load capacity and the mass of the disc counterweights are described, and the load at the robot's end can be expanded by appropriately stacking multiple disc counterweights.

[0011] In some embodiments, the spacing between adjacent load positioning mounting holes is consistent. This is beneficial in that the spacing between the load positioning mounting holes can be set to match various disc counterweights. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic structural diagram of a robot end load test fixture with a variable mass center of mass when installed on a robot according to one embodiment of the utility model;

[0013] Figure 2 for Figure 1 A schematic diagram of the top cross-sectional structure of a robot end load test fixture with a variable mass center of mass is shown;

[0014] Figure 3 for Figure 2 A schematic cross-sectional structure diagram of a robot end load test fixture with a variable mass center of mass, taken along the AA direction;

[0015] Figure 4 for Figure 2 The figure shows a side cross-sectional structural diagram of a robot end load test fixture with a variable mass center of mass.

[0016] In the figure: fixed-length adjustment rod 1, load positioning mounting hole 2, end locking block 3, disc counterweight 4, extended mounting hole 5, end locking screw 6, counterweight locking screw 7, spring washer 8, test fixture 10, robot 20, end connecting rod 21. DETAILED DESCRIPTION

[0017] The present invention will be further described in detail below with reference to the accompanying drawings.

[0018] like Figure 1-4 As shown, the test fixture 10 is used to be installed on a Scara robot 20 with a load capacity of 4 kg to 6 kg, wherein the test fixture 10 is installed on the end link 21 of the robot 20 .

[0019] The test fixture 10 comprises a horizontally extending, rectangular, fixed-length adjustment rod 1 with multiple load-positioning holes 2 arranged side by side. One end of the rod 1 is connected to a terminal link 21 of a robot 20. Each load-positioning hole 2 is used to adjustably mount at least one circular, disc-shaped counterweight 4.

[0020] Specifically, an end locking block 3 is connected to one end of the fixed-length adjustment rod 1, wherein the two sides of the end locking block 3 are respectively connected to the end of the fixed-length adjustment rod 1 through two end locking screws 6, and the end locking block 3 and the end of the fixed-length adjustment rod 1 jointly lock the bottom end of the end connecting rod 21 of the robot 20.

[0021] There are multiple extended mounting holes 5 on the circumference of the disc counterweight 4. When the disc counterweight 4 is installed on the fixed-length adjustment rod 1, at least two extended mounting holes 5 on the disc counterweight 4 can be connected and locked with the same number of load positioning mounting holes 2 through the counterweight locking screws 7.

[0022] Preferably, when the disc counterweight 4 is installed, a spring washer 8 is also provided on the disc counterweight 4 to improve the tightness of the locking.

[0023] One or more disc counterweights 4 can be installed on the fixed-length adjustment rod 1 as needed. Disc counterweights 4 of three different masses (0.5 kg, 1 kg, and 2 kg) are available. Multiple disc counterweights 4 can be stacked to increase the load capacity of the robot 20. The spacing between adjacent load-positioning holes 2 is consistent, and the three disc counterweights 4 are compatible.

[0024] In addition, during the test, when the position of the center of mass needs to be changed, it can be achieved by adjusting the position of the disc counterweight 4 installed at the end of the fixed-length adjustment rod 1.

[0025] The above descriptions are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A robot end load test fixture with a variable mass center of mass, used for installation on the end connecting rod (21) of a robot (20), characterized by: The invention comprises a horizontally extending fixed-length adjustment rod (1), wherein a plurality of load positioning mounting holes (2) are arranged side by side on the fixed-length adjustment rod (1), one end of the fixed-length adjustment rod (1) is locked and connected to an end connecting rod (21) via an end locking block (3), at least one disc counterweight (4) is adjustably mounted on each of the load positioning mounting holes (2), a plurality of extended mounting holes (5) are arranged on the circumference of the disc counterweight (4), and at least two of the extended mounting holes (5) on the disc counterweight (4) are respectively connected and locked with the plurality of load positioning mounting holes (2).

2. The robot end load test fixture with a variable mass center of mass according to claim 1, characterized in that: Both sides of the end locking block (3) are connected to one end of the fixed-length adjustment rod (1) via two end locking screws (6), and the end connecting rod (21) is locked.

3. The robot end load test fixture with a variable mass center of mass according to claim 1, characterized in that: Each of the extended mounting holes (5) is connected to each of the load positioning mounting holes (2) via a plurality of counterweight locking screws (7).

4. The robot end load test fixture with a variable mass center of mass according to claim 1, characterized in that: A spring washer (8) is provided on the disc counterweight (4).

5. The robot end load test fixture with a variable mass center of mass according to claim 1, characterized in that: The load capacity of the robot (20) is 4kg-6kg, and the disc counterweight (4) has three different masses of 0.5kg, 1kg, and 2kg.

6. The robot end load test fixture with a variable mass center of mass according to claim 5, characterized in that: The spacing between adjacent load positioning mounting holes (2) is consistent.

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