WO2017113292A1 - Robot performance test load device - Google Patents
Robot performance test load deviceDownload PDFInfo
- Publication number
- WO2017113292A1 WO2017113292A1PCT/CN2015/100114CN2015100114WWO2017113292A1WO 2017113292 A1WO2017113292 A1WO 2017113292A1CN 2015100114 WCN2015100114 WCN 2015100114WWO 2017113292 A1WO2017113292 A1WO 2017113292A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- slider
- slide bar
- sliding
- sliding sleeve
- load device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Images
Classifications
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Definitions
- the present inventionrelates to the field of robot technology, and in particular, to a robot performance test load device.
- FIG. 1is a perspective view of a robot in the prior art, and FIG. 1 shows a multi-degree-of-freedom robot 10 commonly used in the industrial field, and can be moved in multiple directions according to a three-dimensional coordinate system, such as : downward (+X) movement, upward (-X) movement, left (+Y) movement, right (-Y) movement, forward (+Z) movement, backward (-Z) movement, etc.
- FIG. 2is a perspective view of a 10 kg load device in the prior art
- FIG. 3is a perspective view of a 16 kg load device in the prior art
- FIG. 4is a perspective view of a 50 kg load device in the prior art, wherein The 10 kg load device 11, the 16 kg load device 12, and the 50 kg load device 13 differ not only in quality but also in the center of mass and interface.
- the present inventionprovides a robot performance test load device, which can meet the performance test requirements of different loads of the robot, which not only reduces the design cost and the production cost, but also can be reused between the load devices, avoiding resources. waste.
- a robot performance test load deviceincludes: a first slide bar, a second slide bar, a weight block, and a slide Block and adapter;
- the second slide baris disposed perpendicular to the first slide bar, and the second slide bar is movable in an axial direction of the first slide bar, and when the second slide bar is moved to a first target position Afterwards, the second sliding bar is fixedly connected to the first sliding bar;
- the weightis fixed on the slider, the slider is movable in the axial direction of the second slider, and after the slider is moved to the second target position, the slider is The second sliding rod is fixedly connected;
- the adapteris fixed to the first sliding rod end for fixedly connecting the first sliding rod end to the mechanical interface of the robot.
- the second sliding rod endis fixed with a first sliding sleeve that is adapted to the radial cross section of the first sliding rod, and the first sliding sleeve is sleeved on the first sliding rod, and The first sliding sleeve is fixedly coupled to the first sliding rod after the first sliding sleeve is moved to the first target position.
- the first sliding rodaxially has at least one row of first threaded holes, the first threaded holes are sequentially distributed along the axial direction of the first sliding rod, and the first sliding sleeve a first through hole is opened at a corresponding position;
- the first sliding sleeveAfter the first sliding sleeve is moved to the first target position, the first sliding sleeve is sequentially locked to the first through the first through hole and the first threaded hole by a first screw On the slider.
- the second slider endextends outwardly along an axial direction thereof, and an open slot is formed between the lug and the end of the second slider, the open slot and the slot
- the axial side of the first sliding rodis adapted;
- the axial side of the first slide baris disposed in the open slot, and after the lug moves to the first target position, the lug is fixedly coupled to the first slide bar.
- the first sliding rodaxially has at least one row of second threaded holes, the second threaded holes are sequentially distributed along the axial direction of the first sliding rod, and corresponding to the lugs a second through hole is opened in the position;
- the lugAfter the lug moves to the first target position, the lug is locked to the first slide bar through the second through hole and the second threaded hole through the second screw.
- the slideris a second sliding sleeve
- the second sliding sleeveis sleeved on the second sliding rod
- the first Two sliding sleeves and the second sliding rodMake a connection.
- the second sliding rodaxially has at least one row of third threaded holes, the third threaded holes are sequentially distributed along the axial direction of the second sliding rod, and the second sliding sleeve a third through hole is opened at a corresponding position;
- the second sliding sleeveAfter the second sliding sleeve is moved to the second target position, the second sliding sleeve is sequentially locked to the second through the third through hole and the third threaded hole through a third screw. On the slider.
- the middle portion of the weightpasses through the second sliding bar and is fixedly connected with the second sliding sleeve.
- the second sliding sleevehas a plurality of fourth threaded holes at a radial end thereof, and a fourth through hole is formed at a corresponding position of the weighting block;
- the weightis locked to the second sliding sleeve through the fourth through hole and the fourth threaded hole in sequence through a fourth screw.
- the first sliding rod endis fixed with an adapter adapted to the adapter, and the adapter is fixedly connected to the adapter.
- the inventionprovides a robot performance test load device, which divides an integrated load into a split load device composed of a single component, and when performing performance test on a robot with different loads, the load device can realize the load device
- the multiplexing functioncan realize the quality adjustment of the load device by changing the number of the weights, by changing the moving position between the first slider and the second slider and the moving position between the second slider and the slider
- the present inventionsatisfies the performance testing requirements of robots with different loads through a split type load device, which not only reduces the design cost and the production cost, but also can be reused between the load devices. To avoid wasting resources.
- FIG. 1is a perspective view of a robot in the prior art
- FIG. 2is a perspective view of a 10 kg load device in the prior art
- Figure 3is a perspective view of a 16 kg load device in the prior art
- Figure 4is a perspective view of a prior art 50 kg load device
- Figure 5is a perspective view of an embodiment of a robot performance test load device of the present invention.
- FIG. 6is a perspective view of a second slide bar in the embodiment of the robot performance test load device of the present invention.
- FIG. 7is a perspective view of another second slider in the embodiment of the robot performance test load device of the present invention.
- Figure 8is a perspective view of the slider of the embodiment of the robot performance test load device of the present invention.
- Figure 9is a perspective view of the adapter of the embodiment of the robot performance test load device of the present invention.
- Embodiments of the present inventionprovide a robot performance test load device for use in a robot performance test, which is described in detail below.
- FIG. 5is a perspective view of an embodiment of a robot performance test load device according to the present invention.
- the load deviceincludes: a first slide bar 100, a second slide bar 200, a weight block 300, and a slider. 400 and adapter 500.
- the second sliding bar 200is disposed perpendicular to the first sliding bar 100, and the second sliding bar 200 is movable along the axial direction of the first sliding bar 100, and After the second slider 200 is moved to the first target position, the second slider 200 is fixedly coupled to the first slider 100. Specifically, when the first sliding bar 100 is assembled with the second sliding bar 200, the angle between the two sliding bars 100 is 90 degrees, and the relative movement between the first sliding bar 100 and the second sliding bar 200 is adopted.
- the first target positionis only used to indicate that the second sliding bar 200 needs to be moved to a certain position on the first sliding bar 100, and the position is based on the performance test of the robot. Determined by the required center of mass. That is to say, the robots of different loads have different centroids required for the performance test, and the first target position is also different, which is not limited herein.
- the weight 300is fixed on the slider 400, and the slider 400 is movable along the axial direction of the second slider 200, and when the slider 400 moves to the first After the two target positions, the slider 400 is fixedly coupled to the second slide bar 200.
- the required qualityselects different weights or different numbers of weights 300, and the weight 300 is assembled with the slider 400, and is changed by the relative movement between the slider 400 and the second slider 200. a moving position of the slider 400 in the Lxy direction, thereby adjusting the second centroid of the load device in the Lxy direction, and fixing the slider 400 to the second slide after the position of the slider 400 on the second slider 200 is determined On the pole 200.
- the second target positionis the same as the first target position, and is determined according to the centroid required by the robot during the performance test, and details are not described herein again.
- the adapter 500is fixed to the end of the first sliding bar 100 for fixedly connecting the end of the first sliding bar 100 to the mechanical interface of the robot. Since the mechanical interfaces of the various robots are different, in order to achieve the multiplexing effect of the load device, the load device can be mounted on the mechanical interface of the robot through the adapter 500.
- the relative movement between the first sliding bar 100 and the second sliding bar 200 and the slider 400can be adopted.
- the relative movement between the second slide bar 200 and the second slide bar 200adjusts the center of mass of the load device, and the quality of the load device can be adjusted by selecting different weights or different numbers of weights 300, and can be realized by the adapter 500.
- the multiplexing effect of the load deviceis not limited to the embodiment of the present invention.
- FIG. 6is a perspective view of a second sliding bar in the embodiment of the robot performance testing load device of the present invention.
- the end of the second sliding bar 200is fixed and first.
- the first sliding sleeve 210 of the sliding rod 100has a radial section. Specifically, the first sliding sleeve 210 is sleeved on the first sliding rod 100, and after the first sliding sleeve 210 is moved to the first target position, the first sliding sleeve 210 is fixedly connected with the first sliding rod 100.
- the relative movement between the second sliding bar 200 and the first sliding bar 100is achieved by a sliding fit between the first sliding sleeve 210 and the first sliding bar 100.
- At least one row of first threaded holes 101are defined in the axial side of the first sliding bar 100, and the first threaded holes 101 are sequentially distributed along the axial direction of the first sliding bar 100, and are in the A first through hole 211 is defined in a corresponding position of the sliding sleeve 210. Specifically, after the first sliding sleeve 210 is moved to the first target position, the first sliding sleeve 210 is locked to the first sliding rod 100 through the first through hole 211 and the first threaded hole 101 through the first screw 610. on.
- the first threaded hole 101is on the axial side of the first sliding bar 100.
- the location opened by the departmentis the first target location. That is to say, the position where each of the first threaded holes 101 is opened is a first target position, and according to the different centroids required by the robot during the performance test, the first sliding sleeve 210 is first moved to the corresponding first target position. The first screw 610 is then inserted into the corresponding first threaded hole 101, and finally the first sliding sleeve 210 is locked by the first screw 610 to the first target position of the first slide bar 100.
- the first threaded holes 101are preferably two rows.
- the first through hole 211is preferably two strip-shaped through holes, and the first sliding sleeve 210 is fixedly mounted on the first sliding bar 100 by four first screws 610.
- the manner in which the first sliding bar 100 and the second sliding bar 200 are fixedly connectedis not limited to the manner of the above fixed connection, and may also be in the first sliding sleeve 210 and the first sliding bar.
- the connecting pieces between the 100are fixedly connected by bolts, pins and the like.
- only the second sliding bar 200is required to be fixedly connected to the first sliding bar 100 after moving to the first target position, and the second sliding bar 200 is fixedly connected to the second sliding bar.
- the rod 200is not limited herein.
- connection manner between the first sliding sleeve 210 and the second sliding rod 200may be a permanently fixed connection manner
- the first sliding sleeve 210 and the second sliding rod 200are preferably integrally formed.
- FIG. 7is a perspective view of another second slider in the embodiment of the robot performance test load device of the present invention.
- another preferred implementation of the second slider 200is provided.
- the structure of the second sliding bar 200is different from the above-mentioned structure in which the first sliding sleeve 210 is fixed at the end of the second sliding bar 200, where the end of the second sliding bar 200 is outwardly along the axial direction thereof.
- An ear 220is extended, and an opening groove 202 is formed between the lug 220 and the end of the second sliding bar 200.
- the opening groove 202is matched with the axial side of the first sliding bar 100.
- the axial side of the first slide bar 100is placed in the open slot 202, and after the lug 220 is moved to the first target position, the lug 220 is fixedly coupled to the first slide bar 100.
- the relative movement between the second slide bar 200 and the first slide bar 100is achieved by a sliding fit between the open slot 202 and the first slide bar 100.
- At least one row of second threaded holes 102are defined in the axial side of the first sliding bar 100, and the second threaded holes 102 are sequentially distributed along the axial direction of the first sliding bar 100, and are in the branch A second through hole 221 is defined in a corresponding position of the ear 220. Specifically, when the lug 220 moves to the first target After the position, the lug 220 is locked to the first sliding bar 100 through the second through hole 221 and the second threaded hole 102 in sequence.
- the fixed connection manner of the lug 220 and the first sliding bar 100may be the same as the fixed connection manner of the first sliding sleeve 210 and the first sliding bar 100.
- the position where the second threaded hole 102 is opened at the axial side of the first sliding bar 100is the first target position, as described above, and details are not described herein again.
- connection between the lug 220 and the second sliding bar 200can also be a permanently fixed connection manner
- the lug 220 and the second sliding bar 200are also preferably integrally formed.
- the second sliding bar 200is not limited to the above two structures, as long as the relative movement between the second sliding bar 200 and the first sliding bar 100 can be achieved, and when the second sliding bar 200 moves to the first After the target position, the second slider 200 can be any other structure that can form a fixed connection with the first slider 100, which is not limited herein.
- FIG. 8is a perspective view of the slider of the embodiment of the robot performance test load device of the present invention.
- the slider 400is specifically a second sliding sleeve 410 .
- the second sliding sleeve 410is sleeved on the second sliding rod 200, and after the second sliding sleeve 410 is moved to the second target position, the second sliding sleeve 410 is fixedly connected with the second sliding rod 200.
- At least one row of third threaded holes 201are defined in the axial side of the second sliding bar 200, and the third threaded holes 201 are sequentially distributed along the axial direction of the second sliding bar 200, and are in the A third through hole 411 is defined in a corresponding position of the second sliding sleeve 410. Specifically, after the second sliding sleeve 410 is moved to the second target position, the second sliding sleeve 410 is locked through the third through hole 411 and the third thread 201 through the third screw (not shown). On the second slider 200.
- the fixed connection manner of the second sliding sleeve 410 and the second sliding rod 200may be the same as the fixed connection manner of the first sliding sleeve 210 or the lug 220 and the first sliding rod 100.
- the position where the third threaded hole 201 is opened at the axial side of the second sliding bar 200is the second target position, as described above, and details are not described herein again.
- the slider 400is not limited to the second sliding sleeve 410, as long as the relative movement between the slider 400 and the second sliding rod 200 can be achieved, and after the slider 400 moves to the second target position,
- the slider 400can be any other structure that can form a fixed connection with the second slider 200, specifically not here. Make a limit.
- the middle portion of the weight 300passes through the second sliding bar 200 and is fixedly connected to the second sliding sleeve 410 .
- a plurality of fourth threaded holes 412are defined in the radial end of the second sliding sleeve 410, and a fourth through hole 301 is defined in the corresponding position of the weight 300. Specifically, the weight 300 is locked to the second sliding sleeve 410 through the fourth through hole 301 and the fourth threaded hole 412 in sequence.
- connection manner of the weight 300 and the slider 400is not limited to the above connection manner, as long as the weight 300 can be fixedly mounted on the slider 400 and can be accompanied by the slider 400. Any other structure of the movement may be used, and is not limited herein.
- FIG. 9is a perspective view of the adapter in the embodiment of the robot performance test load device of the present invention.
- the end of the first slide bar 100is fixedly coupled to the adapter 500.
- the adapter socket 110is fixedly connected to the adapter 500.
- two sets of threaded holesare respectively formed in different positions of the adapter 500, specifically: a fourth threaded hole 501 and a fifth threaded hole 502.
- the fourth threaded hole 501is for mounting the adapter 500 on the adapter 110 through the fourth screw 640
- the fifth threaded hole 502is for passing the adapter 500 through the fifth screw (not shown). Mounted on the mechanical interface of the robot.
- connection manner of the adapter 110 and the adapter 500is not limited to the above connection manner, and the two may be connected by a snap connection.
- the adapter 500is required to be stably mounted on the adapter 110, which is not limited herein.
- the connection between the adapter 110 and the first sliding bar 100can also be a permanently fixed connection manner
- the adapter 110 and the first sliding bar 100are also preferably integrally formed.
- the adapter 500is preferably a flange.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Translated fromChinese本发明涉及机器人技术领域，尤其涉及一种机器人性能测试负载装置。The present invention relates to the field of robot technology, and in particular, to a robot performance test load device.
工业机器人是一种具有自动控制操作和移动功能，能完成各种作业的可编程操作机，在工业领域中，机器人可以代替人工完成具有大批量、高质量要求的工作。如图1所示，图1为现有技术中机器人的立体图，图1中所示出的是工业领域中常用的多自由度机械臂10，且其可以按照三维坐标系进行多方位移动，如：向下(+X)移动、向上(-X)移动、向左(+Y)移动、向右(-Y)移动、向前(+Z)移动、向后(-Z)移动等。The industrial robot is a programmable manipulator with automatic control operation and movement functions, which can perform various operations. In the industrial field, the robot can replace the manual work with high volume and high quality requirements. As shown in FIG. 1, FIG. 1 is a perspective view of a robot in the prior art, and FIG. 1 shows a multi-degree-of-freedom robot 10 commonly used in the industrial field, and can be moved in multiple directions according to a three-dimensional coordinate system, such as : downward (+X) movement, upward (-X) movement, left (+Y) movement, right (-Y) movement, forward (+Z) movement, backward (-Z) movement, etc.
为了满足工业领域应用需求，目前存在多款型号的机器人，每款机器人在设计时，都需要能够满足一定的负载需求，并且在样机生产后，需要将负载装置安装在机器人的机械接口上进行运转测试。一般地，针对不同负载的机器人，需要采用不同质量、不同质心的负载装置对机器人性能进行测试。结合图2至图4所示，图2为现有技术中10kg负载装置的立体图，图3为现有技术中16kg负载装置的立体图，图4为现有技术中50kg负载装置的立体图，其中，10kg负载装置11、16kg负载装置12及50kg负载装置13不仅在质量上存在差异，而且在质心及接口上也存在差异。In order to meet the application needs of the industrial field, there are many types of robots at present, each of which needs to be able to meet certain load requirements during design, and after the prototype is produced, the load device needs to be installed on the mechanical interface of the robot for operation. test. Generally, for different load robots, it is necessary to test the performance of the robot with load devices of different masses and different centroids. 2 is a perspective view of a 10 kg load device in the prior art, FIG. 3 is a perspective view of a 16 kg load device in the prior art, and FIG. 4 is a perspective view of a 50 kg load device in the prior art, wherein The 10 kg load device 11, the 16 kg load device 12, and the 50 kg load device 13 differ not only in quality but also in the center of mass and interface.
常见的机器人负载有几十种，如果为每款机器人都单独设计出一种负载装置，那么会导致设计成本及生产成本的增加。此外，由于多种负载装置之间因接口不同，而导致负载装置之间不能复用，所以也会造成资源的浪费。There are dozens of common robot loads. If a load device is designed separately for each robot, it will lead to an increase in design cost and production cost. In addition, due to the different interfaces between the various load devices, the load devices cannot be reused, which also causes waste of resources.
发明内容Summary of the invention
为解决上述技术问题，本发明提供了一种机器人性能测试负载装置，可以满足不同负载的机器人性能测试需求，不仅减少了设计成本及生产成本，而且负载装置之间可以复用，避免了资源的浪费。In order to solve the above technical problem, the present invention provides a robot performance test load device, which can meet the performance test requirements of different loads of the robot, which not only reduces the design cost and the production cost, but also can be reused between the load devices, avoiding resources. waste.
本发明的技术方案如下：The technical solution of the present invention is as follows:
一种机器人性能测试负载装置，包括：第一滑杆、第二滑杆、配重块、滑块及转接件；A robot performance test load device includes: a first slide bar, a second slide bar, a weight block, and a slideBlock and adapter;
所述第二滑杆与所述第一滑杆垂直设置，且所述第二滑杆可沿所述第一滑杆轴向方向移动，并当所述第二滑杆移动至第一目标位置后，所述第二滑杆与所述第一滑杆固定连接；The second slide bar is disposed perpendicular to the first slide bar, and the second slide bar is movable in an axial direction of the first slide bar, and when the second slide bar is moved to a first target position Afterwards, the second sliding bar is fixedly connected to the first sliding bar;
所述配重块固设于所述滑块上，所述滑块可沿所述第二滑杆轴向方向移动，并当所述滑块移动至第二目标位置后，所述滑块与所述第二滑杆固定连接；The weight is fixed on the slider, the slider is movable in the axial direction of the second slider, and after the slider is moved to the second target position, the slider is The second sliding rod is fixedly connected;
所述转接件固设于所述第一滑杆端部，用于将所述第一滑杆端部固定连接在机器人的机械接口上。The adapter is fixed to the first sliding rod end for fixedly connecting the first sliding rod end to the mechanical interface of the robot.
优选地，所述第二滑杆端部固设有与所述第一滑杆径向截面相适配的第一滑套，所述第一滑套套设于所述第一滑杆上，并当所述第一滑套移动至所述第一目标位置后，所述第一滑套与所述第一滑杆固定连接。Preferably, the second sliding rod end is fixed with a first sliding sleeve that is adapted to the radial cross section of the first sliding rod, and the first sliding sleeve is sleeved on the first sliding rod, and The first sliding sleeve is fixedly coupled to the first sliding rod after the first sliding sleeve is moved to the first target position.
优选地，所述第一滑杆轴向侧部开设有至少一排第一螺纹孔，所述第一螺纹孔沿所述第一滑杆轴向方向依次分布，并在所述第一滑套的对应位置上开设有第一通孔；Preferably, the first sliding rod axially has at least one row of first threaded holes, the first threaded holes are sequentially distributed along the axial direction of the first sliding rod, and the first sliding sleeve a first through hole is opened at a corresponding position;
当所述第一滑套移动至所述第一目标位置后，所述第一滑套通过第一螺钉依次穿过所述第一通孔及第一螺纹孔将其锁附在所述第一滑杆上。After the first sliding sleeve is moved to the first target position, the first sliding sleeve is sequentially locked to the first through the first through hole and the first threaded hole by a first screw On the slider.
优选地，所述第二滑杆端部沿其轴向方向向外延伸出一支耳，所述支耳与所述第二滑杆端部之间形成一开口槽，所述开口槽与所述第一滑杆轴向侧部相适配；Preferably, the second slider end extends outwardly along an axial direction thereof, and an open slot is formed between the lug and the end of the second slider, the open slot and the slot The axial side of the first sliding rod is adapted;
所述第一滑杆轴向侧部置于所述开口槽内，并当所述支耳移动至所述第一目标位置后，所述支耳与所述第一滑杆固定连接。The axial side of the first slide bar is disposed in the open slot, and after the lug moves to the first target position, the lug is fixedly coupled to the first slide bar.
优选地，所述第一滑杆轴向侧部开设有至少一排第二螺纹孔，所述第二螺纹孔沿所述第一滑杆轴向方向依次分布，并在所述支耳的对应位置上开设有第二通孔；Preferably, the first sliding rod axially has at least one row of second threaded holes, the second threaded holes are sequentially distributed along the axial direction of the first sliding rod, and corresponding to the lugs a second through hole is opened in the position;
当所述支耳移动至所述第一目标位置后，所述支耳通过第二螺钉依次穿过所述第二通孔及第二螺纹孔将其锁附在所述第一滑杆上。After the lug moves to the first target position, the lug is locked to the first slide bar through the second through hole and the second threaded hole through the second screw.
优选地，所述滑块为第二滑套，所述第二滑套套设于所述第二滑杆上，并当所述第二滑套移动至所述第二目标位置后，所述第二滑套与所述第二滑杆固定连接。Preferably, the slider is a second sliding sleeve, the second sliding sleeve is sleeved on the second sliding rod, and after the second sliding sleeve moves to the second target position, the first Two sliding sleeves and the second sliding rodMake a connection.
优选地，所述第二滑杆轴向侧部开设有至少一排第三螺纹孔，所述第三螺纹孔沿所述第二滑杆轴向方向依次分布，并在所述第二滑套的对应位置上开设有第三通孔；Preferably, the second sliding rod axially has at least one row of third threaded holes, the third threaded holes are sequentially distributed along the axial direction of the second sliding rod, and the second sliding sleeve a third through hole is opened at a corresponding position;
当所述第二滑套移动至所述第二目标位置后，所述第二滑套通过第三螺钉依次穿过所述第三通孔及第三螺纹孔将其锁附在所述第二滑杆上。After the second sliding sleeve is moved to the second target position, the second sliding sleeve is sequentially locked to the second through the third through hole and the third threaded hole through a third screw. On the slider.
优选地，所述配重块中部穿过所述第二滑杆，并与所述第二滑套固定连接。Preferably, the middle portion of the weight passes through the second sliding bar and is fixedly connected with the second sliding sleeve.
优选地，所述第二滑套径向端部开设有若干个第四螺纹孔，并在所述配重块的对应位置上开设有第四通孔；Preferably, the second sliding sleeve has a plurality of fourth threaded holes at a radial end thereof, and a fourth through hole is formed at a corresponding position of the weighting block;
所述配重块通过第四螺钉依次穿过所述第四通孔及所述第四螺纹孔将其锁附在所述第二滑套上。The weight is locked to the second sliding sleeve through the fourth through hole and the fourth threaded hole in sequence through a fourth screw.
优选地，所述第一滑杆端部固设有与所述转接件相适配的转接座，所述转接座与所述转接件固定连接。Preferably, the first sliding rod end is fixed with an adapter adapted to the adapter, and the adapter is fixedly connected to the adapter.
本发明所提供的一种机器人性能测试负载装置，将一体式的负载拆分成由单个组件组成的分体式负载装置，针对不同负载的机器人进行性能测试时，通过转接件可以实现负载装置的复用功能，通过改变配重块的数量可以实现负载装置的质量调整，通过改变第一滑杆与第二滑杆之间的移动位置以及第二滑杆与滑块之间的移动位置可以实现负载装置的质心调整，因此相对于现有技术，本发明通过一种分体式负载装置来满足不同负载的机器人的性能测试需求，不仅减少了设计成本及生产成本，而且负载装置之间可以复用，避免了资源的浪费。The invention provides a robot performance test load device, which divides an integrated load into a split load device composed of a single component, and when performing performance test on a robot with different loads, the load device can realize the load device The multiplexing function can realize the quality adjustment of the load device by changing the number of the weights, by changing the moving position between the first slider and the second slider and the moving position between the second slider and the slider Compared with the prior art, the present invention satisfies the performance testing requirements of robots with different loads through a split type load device, which not only reduces the design cost and the production cost, but also can be reused between the load devices. To avoid wasting resources.
图1为现有技术中机器人的立体图；1 is a perspective view of a robot in the prior art;
图2为现有技术中10kg负载装置的立体图；2 is a perspective view of a 10 kg load device in the prior art;
图3为现有技术中16kg负载装置的立体图；Figure 3 is a perspective view of a 16 kg load device in the prior art;
图4为现有技术中50kg负载装置的立体图；Figure 4 is a perspective view of a prior art 50 kg load device;
图5为本发明机器人性能测试负载装置实施例的立体图；Figure 5 is a perspective view of an embodiment of a robot performance test load device of the present invention;
图6为本发明机器人性能测试负载装置实施例中一种第二滑杆的立体图；6 is a perspective view of a second slide bar in the embodiment of the robot performance test load device of the present invention;
图7为本发明机器人性能测试负载装置实施例中另一种第二滑杆的立体图；7 is a perspective view of another second slider in the embodiment of the robot performance test load device of the present invention;
图8为本发明机器人性能测试负载装置实施例中滑块的立体图；Figure 8 is a perspective view of the slider of the embodiment of the robot performance test load device of the present invention;
图9为本发明机器人性能测试负载装置实施例中转接件的立体图。Figure 9 is a perspective view of the adapter of the embodiment of the robot performance test load device of the present invention.
本发明实施例提供了一种机器人性能测试负载装置，用于机器人性能测试之用途，以下分别进行详细说明。Embodiments of the present invention provide a robot performance test load device for use in a robot performance test, which is described in detail below.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
请参见图5，图5为本发明机器人性能测试负载装置实施例的立体图，本发明实施例中，该负载装置包括：第一滑杆100、第二滑杆200、配重块300、滑块400及转接件500。Referring to FIG. 5, FIG. 5 is a perspective view of an embodiment of a robot performance test load device according to the present invention. In the embodiment of the present invention, the load device includes: a first slide bar 100, a second slide bar 200, a weight block 300, and a slider. 400 and adapter 500.
结合图1和图5所示，本发明实施例中，第二滑杆200与第一滑杆100垂直设置，且第二滑杆200可沿第一滑杆100轴向方向移动，并当第二滑杆200移动至第一目标位置后，第二滑杆200与第一滑杆100固定连接。具体地，第一滑杆100与第二滑杆200装配时，二者之间的夹角为90度，并通过第一滑杆100与第二滑杆200之间的相对运动，以此来改变第二滑杆200在Lz方向上的移动位置，从而调整该负载装置在Lz方向上的第一质心，并当第二滑杆200在第一滑杆100上的位置确定后，将其固定安装在第一滑杆100上。As shown in FIG. 1 and FIG. 5, in the embodiment of the present invention, the second sliding bar 200 is disposed perpendicular to the first sliding bar 100, and the second sliding bar 200 is movable along the axial direction of the first sliding bar 100, and After the second slider 200 is moved to the first target position, the second slider 200 is fixedly coupled to the first slider 100. Specifically, when the first sliding bar 100 is assembled with the second sliding bar 200, the angle between the two sliding bars 100 is 90 degrees, and the relative movement between the first sliding bar 100 and the second sliding bar 200 is adopted. Changing the moving position of the second slider 200 in the Lz direction, thereby adjusting the first centroid of the load device in the Lz direction, and fixing the position of the second slider 200 on the first slider 100 after determining the position of the second slider 200 It is mounted on the first slide bar 100.
需要说明的是，本发明实施例中，该第一目标位置仅用以表示第二滑杆200需要移动至第一滑杆100上的某一位置，而该位置是根据机器人在性能测试时所要求的质心而确定的。也就是说，不同负载的机器人在性能测试时所要求的质心各有不同，那么该第一目标位置也有所不同，具体此处不做限定。It should be noted that, in the embodiment of the present invention, the first target position is only used to indicate that the second sliding bar 200 needs to be moved to a certain position on the first sliding bar 100, and the position is based on the performance test of the robot. Determined by the required center of mass. That is to say, the robots of different loads have different centroids required for the performance test, and the first target position is also different, which is not limited herein.
结合图1和图5所示，本发明实施例中，配重块300固设于滑块400上，滑块400可沿第二滑杆200轴向方向移动，并当滑块400移动至第二目标位置后，滑块400与第二滑杆200固定连接。具体地，根据机器人在性能测试时所要求的质量选择不同质量或不同数量的配重块300，并将该配重块300与滑块400装配在一起，通过滑块400与第二滑杆200之间的相对运动，以此来改变滑块400在Lxy方向上的移动位置，从而调整该负载装置在Lxy方向上的第二质心，并当滑块400在第二滑杆200上的位置确定后，将其固定安装在第二滑杆200上。As shown in FIG. 1 and FIG. 5, in the embodiment of the present invention, the weight 300 is fixed on the slider 400, and the slider 400 is movable along the axial direction of the second slider 200, and when the slider 400 moves to the first After the two target positions, the slider 400 is fixedly coupled to the second slide bar 200. Specifically, according to the robot during performance testingThe required quality selects different weights or different numbers of weights 300, and the weight 300 is assembled with the slider 400, and is changed by the relative movement between the slider 400 and the second slider 200. a moving position of the slider 400 in the Lxy direction, thereby adjusting the second centroid of the load device in the Lxy direction, and fixing the slider 400 to the second slide after the position of the slider 400 on the second slider 200 is determined On the pole 200.
需要说明的是，本发明实施例中，该第二目标位置与上述第一目标位置一样，也是根据机器人在性能测试时所要求的质心而确定的，具体此处不再赘述。It should be noted that, in the embodiment of the present invention, the second target position is the same as the first target position, and is determined according to the centroid required by the robot during the performance test, and details are not described herein again.
结合图1和图5所示，本发明实施例中，转接件500固设于第一滑杆100端部，用于将第一滑杆100端部固定连接在机器人的机械接口上。由于各款机器人的机械接口不同，为了实现该负载装置的复用效果，可以通过转接件500将负载装置安装在机器人的机械接口上。As shown in FIG. 1 and FIG. 5, in the embodiment of the present invention, the adapter 500 is fixed to the end of the first sliding bar 100 for fixedly connecting the end of the first sliding bar 100 to the mechanical interface of the robot. Since the mechanical interfaces of the various robots are different, in order to achieve the multiplexing effect of the load device, the load device can be mounted on the mechanical interface of the robot through the adapter 500.
本发明实施例中，为了实现该负载装置能够适用不同负载的机器人性能测试之功能，本发明实施例中，可以通过第一滑杆100与第二滑杆200之间的相对运动以及滑块400与第二滑杆200之间的相对运动来调整该负载装置的质心，并可以通过选择不同质量或不同数量的配重块300额来调整该负载装置的质量，并可以通过转接件500实现该负载装置的复用效果。In the embodiment of the present invention, in order to realize the function of the robot performance test that the load device can be applied to different loads, in the embodiment of the present invention, the relative movement between the first sliding bar 100 and the second sliding bar 200 and the slider 400 can be adopted. The relative movement between the second slide bar 200 and the second slide bar 200 adjusts the center of mass of the load device, and the quality of the load device can be adjusted by selecting different weights or different numbers of weights 300, and can be realized by the adapter 500. The multiplexing effect of the load device.
结合图5和图6所示，图6为本发明机器人性能测试负载装置实施例中一种第二滑杆的立体图，本发明实施例中，第二滑杆200端部固设有与第一滑杆100径向截面相适配的第一滑套210。具体地，该第一滑套210套设于第一滑杆100上，并当第一滑套210移动至所述第一目标位置后，第一滑套210与第一滑杆100固定连接。通过第一滑套210与第一滑杆100之间的滑动配合，从而实现第二滑杆200与第一滑杆100之间的相对运动。As shown in FIG. 5 and FIG. 6 , FIG. 6 is a perspective view of a second sliding bar in the embodiment of the robot performance testing load device of the present invention. In the embodiment of the present invention, the end of the second sliding bar 200 is fixed and first. The first sliding sleeve 210 of the sliding rod 100 has a radial section. Specifically, the first sliding sleeve 210 is sleeved on the first sliding rod 100, and after the first sliding sleeve 210 is moved to the first target position, the first sliding sleeve 210 is fixedly connected with the first sliding rod 100. The relative movement between the second sliding bar 200 and the first sliding bar 100 is achieved by a sliding fit between the first sliding sleeve 210 and the first sliding bar 100.
进一步地，本发明实施例中，第一滑杆100轴向侧部开设有至少一排第一螺纹孔101，该第一螺纹孔101沿第一滑杆100轴向方向依次分布，并在第一滑套210的对应位置上开设有第一通孔211。具体地，当第一滑套210移动至第一目标位置后，通过第一螺钉610依次穿过第一通孔211及第一螺纹孔101将第一滑套210锁附在第一滑杆100上。Further, in the embodiment of the present invention, at least one row of first threaded holes 101 are defined in the axial side of the first sliding bar 100, and the first threaded holes 101 are sequentially distributed along the axial direction of the first sliding bar 100, and are in the A first through hole 211 is defined in a corresponding position of the sliding sleeve 210. Specifically, after the first sliding sleeve 210 is moved to the first target position, the first sliding sleeve 210 is locked to the first sliding rod 100 through the first through hole 211 and the first threaded hole 101 through the first screw 610. on.
需要说明的是，本发明实施例中，第一螺纹孔101在第一滑杆100轴向侧部开设的位置即为第一目标位置。也就是说，每一个第一螺纹孔101开设的位置即为一个第一目标位置，根据机器人在性能测试时所要求的质心不同，首先将第一滑套210移动至对应的第一目标位置，然后将第一螺钉610插入对应的第一螺纹孔101内，最后通过第一螺钉610将第一滑套210锁附在第一滑杆100的第一目标位置上。It should be noted that, in the embodiment of the present invention, the first threaded hole 101 is on the axial side of the first sliding bar 100.The location opened by the department is the first target location. That is to say, the position where each of the first threaded holes 101 is opened is a first target position, and according to the different centroids required by the robot during the performance test, the first sliding sleeve 210 is first moved to the corresponding first target position. The first screw 610 is then inserted into the corresponding first threaded hole 101, and finally the first sliding sleeve 210 is locked by the first screw 610 to the first target position of the first slide bar 100.
本发明实施例中，为使第一滑套210更牢固的安装在第一滑杆100上，第一螺纹孔101优选为两排。相应地，第一通孔211优选为两个条形通孔，通过四颗第一螺钉610将第一滑套210固定安装在第一滑杆100上。需要说明的是，本发明实施例中，针对第一滑杆100与第二滑杆200固定连接的方式并不限定为上述固定连接的方式，也可以在第一滑套210与第一滑杆100之间采用螺栓、销钉等连接件将二者固定连接在一起。本发明实施例中，只要求第二滑杆200在移动至第一目标位置后能够固定连接在第一滑杆100上，而对于第二滑杆200是采用何种方式固定连接在第二滑杆200上，具体此处不做限定。In the embodiment of the present invention, in order to make the first sliding sleeve 210 more firmly mounted on the first sliding bar 100, the first threaded holes 101 are preferably two rows. Correspondingly, the first through hole 211 is preferably two strip-shaped through holes, and the first sliding sleeve 210 is fixedly mounted on the first sliding bar 100 by four first screws 610. It should be noted that, in the embodiment of the present invention, the manner in which the first sliding bar 100 and the second sliding bar 200 are fixedly connected is not limited to the manner of the above fixed connection, and may also be in the first sliding sleeve 210 and the first sliding bar. The connecting pieces between the 100 are fixedly connected by bolts, pins and the like. In the embodiment of the present invention, only the second sliding bar 200 is required to be fixedly connected to the first sliding bar 100 after moving to the first target position, and the second sliding bar 200 is fixedly connected to the second sliding bar. The rod 200 is not limited herein.
本发明实施例中，由于第一滑套210与第二滑杆200之间的连接方式可以是永久固定的连接方式，所以第一滑套210与第二滑杆200优选为一体成型式结构。In the embodiment of the present invention, since the connection manner between the first sliding sleeve 210 and the second sliding rod 200 may be a permanently fixed connection manner, the first sliding sleeve 210 and the second sliding rod 200 are preferably integrally formed.
结合图5和图7所示，图7为本发明机器人性能测试负载装置实施例中另一种第二滑杆的立体图，本发明实施例中，作为第二滑杆200的另一种优选实施例，此处第二滑杆200的结构与上述在第二滑杆200端部固设第一滑套210的结构不同的是，此处第二滑杆200端部沿其轴向方向向外延伸出一支耳220，该支耳220与第二滑杆200端部之间形成一开口槽202，该开口槽202与第一滑杆100轴向侧部相适配。具体地，第一滑杆100轴向侧部置于开口槽202内，并当支耳220移动至第一目标位置后，支耳220与第一滑杆100固定连接。通过开口槽202与第一滑杆100之间的滑动配合，从而实现第二滑杆200与第一滑杆100之间的相对运动。5 and FIG. 7, FIG. 7 is a perspective view of another second slider in the embodiment of the robot performance test load device of the present invention. In the embodiment of the present invention, another preferred implementation of the second slider 200 is provided. For example, the structure of the second sliding bar 200 is different from the above-mentioned structure in which the first sliding sleeve 210 is fixed at the end of the second sliding bar 200, where the end of the second sliding bar 200 is outwardly along the axial direction thereof. An ear 220 is extended, and an opening groove 202 is formed between the lug 220 and the end of the second sliding bar 200. The opening groove 202 is matched with the axial side of the first sliding bar 100. Specifically, the axial side of the first slide bar 100 is placed in the open slot 202, and after the lug 220 is moved to the first target position, the lug 220 is fixedly coupled to the first slide bar 100. The relative movement between the second slide bar 200 and the first slide bar 100 is achieved by a sliding fit between the open slot 202 and the first slide bar 100.
进一步地，本发明实施例中，第一滑杆100轴向侧部开设有至少一排第二螺纹孔102，该第二螺纹孔102沿第一滑杆100轴向方向依次分布，并在支耳220的对应位置上开设有第二通孔221。具体地，当支耳220移动至第一目标位置后，通过第二螺钉620依次穿过第二通孔221及第二螺纹孔102将支耳220锁附在第一滑杆100上。Further, in the embodiment of the present invention, at least one row of second threaded holes 102 are defined in the axial side of the first sliding bar 100, and the second threaded holes 102 are sequentially distributed along the axial direction of the first sliding bar 100, and are in the branch A second through hole 221 is defined in a corresponding position of the ear 220. Specifically, when the lug 220 moves to the first targetAfter the position, the lug 220 is locked to the first sliding bar 100 through the second through hole 221 and the second threaded hole 102 in sequence.
需要说明的是，本发明实施例中，支耳220与第一滑杆100的固定连接方式可以与上述第一滑套210与第一滑杆100的固定连接方式相同。同样地，第二螺纹孔102在第一滑杆100轴向侧部开设的位置即为第一目标位置，具体如上所述，此处不再赘述。It should be noted that, in the embodiment of the present invention, the fixed connection manner of the lug 220 and the first sliding bar 100 may be the same as the fixed connection manner of the first sliding sleeve 210 and the first sliding bar 100. Similarly, the position where the second threaded hole 102 is opened at the axial side of the first sliding bar 100 is the first target position, as described above, and details are not described herein again.
本发明实施例中，由于支耳220与第二滑杆200之间的连接方式也可以是永久固定的连接方式，所以支耳220与第二滑杆200也优选为一体成型式结构。In the embodiment of the present invention, since the connection between the lug 220 and the second sliding bar 200 can also be a permanently fixed connection manner, the lug 220 and the second sliding bar 200 are also preferably integrally formed.
本发明实施例中，第二滑杆200并不限于上述两种结构，只要能够实现第二滑杆200与第一滑杆100之间的相对运动，且当第二滑杆200移动至第一目标位置后，第二滑杆200能够与第一滑杆100形成固定连接的其它任意结构均可，具体此处不做限定。In the embodiment of the present invention, the second sliding bar 200 is not limited to the above two structures, as long as the relative movement between the second sliding bar 200 and the first sliding bar 100 can be achieved, and when the second sliding bar 200 moves to the first After the target position, the second slider 200 can be any other structure that can form a fixed connection with the first slider 100, which is not limited herein.
结合图5和图8所示，图8为本发明机器人性能测试负载装置实施例中滑块的立体图，本发明实施例中，滑块400具体为一第二滑套410。具体地，该第二滑套410套设于第二滑杆200上，并当第二滑套410移动至第二目标位置后，第二滑套410与第二滑杆200固定连接。As shown in FIG. 5 and FIG. 8 , FIG. 8 is a perspective view of the slider of the embodiment of the robot performance test load device of the present invention. In the embodiment of the present invention, the slider 400 is specifically a second sliding sleeve 410 . Specifically, the second sliding sleeve 410 is sleeved on the second sliding rod 200, and after the second sliding sleeve 410 is moved to the second target position, the second sliding sleeve 410 is fixedly connected with the second sliding rod 200.
进一步地，本发明实施例中，第二滑杆200轴向侧部开设有至少一排第三螺纹孔201，该第三螺纹孔201沿第二滑杆200轴向方向依次分布，并在第二滑套410的对应位置上开设有第三通孔411。具体地，当第二滑套410移动至第二目标位置后，通过第三螺钉(图中未示出)依次穿过第三通孔411及第三螺纹201孔将第二滑套410锁附在第二滑杆200上。Further, in the embodiment of the present invention, at least one row of third threaded holes 201 are defined in the axial side of the second sliding bar 200, and the third threaded holes 201 are sequentially distributed along the axial direction of the second sliding bar 200, and are in the A third through hole 411 is defined in a corresponding position of the second sliding sleeve 410. Specifically, after the second sliding sleeve 410 is moved to the second target position, the second sliding sleeve 410 is locked through the third through hole 411 and the third thread 201 through the third screw (not shown). On the second slider 200.
需要说明的是，本发明实施例中，第二滑套410与第二滑杆200的固定连接方式可以与上述第一滑套210或支耳220与第一滑杆100的固定连接方式相同，同样地，第三螺纹孔201在第二滑杆200轴向侧部开设的位置即为第二目标位置，具体如上所述，此处不再赘述。It should be noted that, in the embodiment of the present invention, the fixed connection manner of the second sliding sleeve 410 and the second sliding rod 200 may be the same as the fixed connection manner of the first sliding sleeve 210 or the lug 220 and the first sliding rod 100. Similarly, the position where the third threaded hole 201 is opened at the axial side of the second sliding bar 200 is the second target position, as described above, and details are not described herein again.
本发明实施例中，滑块400并不限定为第二滑套410，只要能够实现滑块400与第二滑杆200之间的相对运动，且当滑块400移动至第二目标位置后，滑块400能够与第二滑杆200形成固定连接的其它任意结构均可，具体此处不做限定。In the embodiment of the present invention, the slider 400 is not limited to the second sliding sleeve 410, as long as the relative movement between the slider 400 and the second sliding rod 200 can be achieved, and after the slider 400 moves to the second target position, The slider 400 can be any other structure that can form a fixed connection with the second slider 200, specifically not here.Make a limit.
结合图5和图8所示，本发明实施例中，配重块300中部穿过第二滑杆200，并与第二滑套410固定连接。As shown in FIG. 5 and FIG. 8 , in the embodiment of the present invention, the middle portion of the weight 300 passes through the second sliding bar 200 and is fixedly connected to the second sliding sleeve 410 .
进一步地，本发明实施例中，第二滑套410径向端部开设有若干个第四螺纹孔412，并在配重块300的对应位置上开设有第四通孔301。具体地，通过第四螺钉640依次穿过第四通孔301及第四螺纹孔412将配重块300锁附在第二滑套410上。Further, in the embodiment of the present invention, a plurality of fourth threaded holes 412 are defined in the radial end of the second sliding sleeve 410, and a fourth through hole 301 is defined in the corresponding position of the weight 300. Specifically, the weight 300 is locked to the second sliding sleeve 410 through the fourth through hole 301 and the fourth threaded hole 412 in sequence.
需要说明的是，本发明实施例中，配重块300与滑块400的连接方式并不限定为上述连接方式，只要配重块300能够固定安装在滑块400上，且能够伴随滑块400移动的其它任意结构均可，具体此处不做限定。It should be noted that, in the embodiment of the present invention, the connection manner of the weight 300 and the slider 400 is not limited to the above connection manner, as long as the weight 300 can be fixedly mounted on the slider 400 and can be accompanied by the slider 400. Any other structure of the movement may be used, and is not limited herein.
结合图5和图9所示，图9为本发明机器人性能测试负载装置实施例中转接件的立体图，本发明实施例中，第一滑杆100端部固设有与转接件500相适配的转接座110，转接座110与转接件500固定连接。As shown in FIG. 5 and FIG. 9, FIG. 9 is a perspective view of the adapter in the embodiment of the robot performance test load device of the present invention. In the embodiment of the present invention, the end of the first slide bar 100 is fixedly coupled to the adapter 500. The adapter socket 110 is fixedly connected to the adapter 500.
进一步地，本发明实施例中，在转接件500的不同位置上分别开设有两组螺纹孔，具体为：第四螺纹孔501和第五螺纹孔502。其中，第四螺纹孔501用于通过第四螺钉640将转接件500安装在转接座110上，第五螺纹孔502用于通过第五螺钉(图中未示出)将转接件500安装在机器人的机械接口上。Further, in the embodiment of the present invention, two sets of threaded holes are respectively formed in different positions of the adapter 500, specifically: a fourth threaded hole 501 and a fifth threaded hole 502. Wherein, the fourth threaded hole 501 is for mounting the adapter 500 on the adapter 110 through the fourth screw 640, and the fifth threaded hole 502 is for passing the adapter 500 through the fifth screw (not shown). Mounted on the mechanical interface of the robot.
需要说明的是，本发明实施例中，转接座110与转接件500的连接方式并不限定为上述连接方式，也可以通过卡接的方式将二者连接在一起。本发明实施例中，只要求将转接件500稳定的安装在转接座110上即可，具体此处不做限定。It should be noted that, in the embodiment of the present invention, the connection manner of the adapter 110 and the adapter 500 is not limited to the above connection manner, and the two may be connected by a snap connection. In the embodiment of the present invention, only the adapter 500 is required to be stably mounted on the adapter 110, which is not limited herein.
本发明实施例中，由于转接座110与第一滑杆100之间的连接方式也可以是永久固定的连接方式，所以转接座110与第一滑杆100也优选为一体成型式结构。另外，转接件500优选为法兰盘。In the embodiment of the present invention, since the connection between the adapter 110 and the first sliding bar 100 can also be a permanently fixed connection manner, the adapter 110 and the first sliding bar 100 are also preferably integrally formed. Additionally, the adapter 500 is preferably a flange.
以上所述实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The embodiments described above are only for explaining the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that The technical solutions described in the examples are modified, or some of the technical features are equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions.The spirit and scope of the technical solutions of the various embodiments are described.
Claims (10)
Translated fromChinesePriority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/100114WO2017113292A1 (en) | 2015-12-31 | 2015-12-31 | Robot performance test load device |
| CN201580081075.XACN107735229B (en) | 2015-12-31 | 2015-12-31 | Robot performance test load device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/100114WO2017113292A1 (en) | 2015-12-31 | 2015-12-31 | Robot performance test load device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2017113292A1true WO2017113292A1 (en) | 2017-07-06 |
Family
ID=59224228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2015/100114CeasedWO2017113292A1 (en) | 2015-12-31 | 2015-12-31 | Robot performance test load device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107735229B (en) |
| WO (1) | WO2017113292A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553967A (en)* | 2017-10-24 | 2018-01-09 | 山西新环粉末冶金有限公司 | A kind of die arrangement device of powder full automatic press |
| CN115256467A (en)* | 2022-08-09 | 2022-11-01 | 珠海格力智能装备有限公司 | Counterweight assembly and mechanical arm load test device |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181559B (en)* | 2019-06-26 | 2022-04-22 | 哈尔滨工业大学 | Combined type robot tail end load testing device |
| CN110722596A (en)* | 2019-10-08 | 2020-01-24 | 珠海格力智能装备有限公司 | Robot loading device and robot |
| DE102019134666B4 (en)* | 2019-12-17 | 2022-03-31 | Franka Emika Gmbh | Calibrating a virtual force sensor of a robotic manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29622132U1 (en)* | 1996-12-23 | 1998-03-19 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Measuring device for determining mass ratios |
| US20110023651A1 (en)* | 2005-01-24 | 2011-02-03 | Intuitive Surgical Operations, Inc. | Apparatus for compact counter balance arms |
| CN203743300U (en)* | 2013-12-27 | 2014-07-30 | 成都嘉泽正达科技有限公司 | Unit balancing weight |
| CN204308971U (en)* | 2014-11-05 | 2015-05-06 | 南京熊猫电子股份有限公司 | Robot motion's accuracy test device |
| CN104781581A (en)* | 2014-07-04 | 2015-07-15 | 深圳市大疆创新科技有限公司 | Counterweight assembly, and counterweight mechanism and holder employing same |
| CN105065569A (en)* | 2015-09-11 | 2015-11-18 | 成都蒲江珂贤科技有限公司 | Combined adjustable crane balance weight device |
| CN105181342A (en)* | 2015-10-30 | 2015-12-23 | 北京新能源汽车股份有限公司 | Counterweight mounting device for vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60114487A (en)* | 1983-11-28 | 1985-06-20 | 不二輸送機工業株式会社 | Balancer for link mechanism of robot |
| JP5383760B2 (en)* | 2011-09-09 | 2014-01-08 | ファナック株式会社 | Robot with workpiece mass measurement function |
| US20140336013A1 (en)* | 2013-05-08 | 2014-11-13 | Anvar Alimov | Balance Arm. A device and a method for training foot and leg muscles and for prevention of partial dystrophy of the left leg. |
- 2015
- 2015-12-31WOPCT/CN2015/100114patent/WO2017113292A1/ennot_activeCeased
- 2015-12-31CNCN201580081075.XApatent/CN107735229B/enactiveActive
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE29622132U1 (en)* | 1996-12-23 | 1998-03-19 | KUKA Schweissanlagen GmbH, 86165 Augsburg | Measuring device for determining mass ratios |
| US20110023651A1 (en)* | 2005-01-24 | 2011-02-03 | Intuitive Surgical Operations, Inc. | Apparatus for compact counter balance arms |
| CN203743300U (en)* | 2013-12-27 | 2014-07-30 | 成都嘉泽正达科技有限公司 | Unit balancing weight |
| CN104781581A (en)* | 2014-07-04 | 2015-07-15 | 深圳市大疆创新科技有限公司 | Counterweight assembly, and counterweight mechanism and holder employing same |
| CN204308971U (en)* | 2014-11-05 | 2015-05-06 | 南京熊猫电子股份有限公司 | Robot motion's accuracy test device |
| CN105065569A (en)* | 2015-09-11 | 2015-11-18 | 成都蒲江珂贤科技有限公司 | Combined adjustable crane balance weight device |
| CN105181342A (en)* | 2015-10-30 | 2015-12-23 | 北京新能源汽车股份有限公司 | Counterweight mounting device for vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553967A (en)* | 2017-10-24 | 2018-01-09 | 山西新环粉末冶金有限公司 | A kind of die arrangement device of powder full automatic press |
| CN115256467A (en)* | 2022-08-09 | 2022-11-01 | 珠海格力智能装备有限公司 | Counterweight assembly and mechanical arm load test device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107735229A (en) | 2018-02-23 |
| CN107735229B (en) | 2021-01-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2017113292A1 (en) | Robot performance test load device | |
| US9233474B2 (en) | Clamping apparatus | |
| JP6580250B2 (en) | Compensation device for work unit and work unit with compensation device | |
| Zhu et al. | A simple compliance modeling method for flexure hinges | |
| US9289900B2 (en) | Calibration tool for a delta robot | |
| US11364643B2 (en) | Installing device and robot | |
| EP3098463B1 (en) | Rotary joint, framework construction kit and method for manufacturing a rotary joint | |
| WO2017041645A1 (en) | Flexible unit and flexible wrist for precision assembly of industrial robots | |
| US20160067868A1 (en) | Modular end effector | |
| US10302181B2 (en) | Reconfigurable motion generator | |
| US20140067122A1 (en) | Robot system and teaching method therefor | |
| CN111551330A (en) | Four-stage Stewart mechanism parallel configuration six-degree-of-freedom vibration excitation system | |
| US20060228205A1 (en) | Adapter assembly including telescoping links | |
| US20150093183A1 (en) | Link connection structure for cable carrier | |
| TWI558524B (en) | Articulated robot having adjustable-length arm | |
| JP6841804B2 (en) | Robot hand | |
| US20160129535A1 (en) | Workpiece positioning apparatus, and method of using same | |
| CN107053255B (en) | Clamp assembly for servicing heavy equipment | |
| US20140144276A1 (en) | Parallel manipulator | |
| CN105345514B (en) | Clamp apparatus | |
| US20150273702A1 (en) | Mechanical arm structure and plate | |
| Li et al. | Compliant mechanism reconfiguration based on position space concept for reducing parasitic motion | |
| US10693286B2 (en) | Wire fixing device | |
| CN106300723B (en) | Rotor assembly, motor and compressor adopting motor | |
| US20210394372A1 (en) | Equipment, notably for machining |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application | Ref document number:15911918 Country of ref document:EP Kind code of ref document:A1 | |
| NENP | Non-entry into the national phase | Ref country code:DE | |
| 122 | Ep: pct application non-entry in european phase | Ref document number:15911918 Country of ref document:EP Kind code of ref document:A1 |