CN113984498B - Industrial robot cable abrasion testing device and method based on simulation environment - Google Patents
Industrial robot cable abrasion testing device and method based on simulation environment Download PDFInfo
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- CN113984498B CN113984498B CN202111216044.4A CN202111216044A CN113984498B CN 113984498 B CN113984498 B CN 113984498B CN 202111216044 A CN202111216044 A CN 202111216044A CN 113984498 B CN113984498 B CN 113984498B
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Abstract
The invention discloses an industrial robot cable abrasion testing device and method based on a simulation environment. The load simulation module is fixedly installed on the partition plate, the partition plate is fixedly connected with the bottom plate through the support, the cable installation assembly is fixedly connected with the partition plate and the support, the load simulation module and the cable installation assembly are attached to each other, the control module is fixedly installed on the upper surface of the bottom plate, the vibration simulation module is fixedly installed on the lower surface of the bottom plate, and the load simulation module, the cable installation assembly and the vibration simulation module are electrically connected with the control module. Setting a continuous fluctuation function, a vibration frequency, a reciprocating motion frequency and an amplitude of a load in a test process according to the actual working condition of the robot cable; and then the upper cable and the lower cable are installed in the testing device to test the cables, and relevant data of the test is displayed and recorded after the test is finished. The invention improves the simulation of the test and the accuracy of the test result, can more accurately capture the wear breakdown critical point and predict the service life of the cable.
Description
Technical Field
The invention relates to a cable abrasion testing device and method in the technical field of industrial robot abrasion testing, in particular to an industrial robot cable abrasion testing device and method based on a simulation environment.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. And in industrial robot operation process, its inside cable is in the friction and wear state all the time, if the cable insulating layer takes place wearing and tearing destruction, then can cause consequences such as cable puncture, inefficacy, influence industrial robot operational reliability and security. Therefore, it is particularly important to research the wear reliability and the working life of the robot cable.
At present, only a few industrial robot cable abrasion testing devices and methods are available in the related field, and for example, patent application No. 202010109593.0 discloses an industrial robot cable abrasion testing device and method under compound motion. The device carries out accelerated wear test on the robot cable by a test method of two forms of sliding friction and rotating friction. In the test process, the load is provided by a heavy object, the continuous change of the load cannot be realized, the actual working condition of the robot cable is difficult to simulate, and the simulation is poor; secondly, the testing method detects the abrasion degree of the cable by using an image recognition technology, can not accurately capture the critical point of the cable insulation layer breakdown, and has lower detection precision and prediction accuracy.
Disclosure of Invention
Aiming at the problems of the accelerated wear reliability testing method and device in the current industrial robot cable lack simulation environment, the invention discovers that the continuous fluctuation change of the load and the inevitable environmental vibration (mainly mechanical vibration) are always accompanied in the working process of the robot cable through the observation, detection and analysis of the actual working environment of the industrial robot cable. Aiming at the two environmental factors, an accelerated wear test method and an accelerated wear test device for simulating load continuous fluctuation and environmental vibration are provided, simulation is carried out through corresponding mechanical structures respectively, real-time current monitoring is carried out on electrified cables by using a detection device, and accelerated wear reliability test of the robot cables in a simulation environment is realized.
Industrial robot cable abrasion testing device based on simulation environment
The device comprises a vibration simulation module, a load simulation module, a cable installation assembly, a partition plate, a bracket, a bottom plate and a control module;
the load simulation module is fixedly installed on the partition plate, the partition plate is fixedly connected with the bottom plate through the support, the cable installation assembly is fixedly connected with the partition plate and the support, the load simulation module is tightly attached to the cable installation assembly, the control module is fixedly installed on the upper surface of the bottom plate, the vibration simulation module is fixedly installed on the lower surface of the bottom plate, and the load simulation module, the cable installation assembly and the vibration simulation module are electrically connected with the control module.
The load simulation module comprises an electric push rod, a push rod fixing frame and a machine body shell;
fuselage shell detachably fixed mounting has the cable installation component on the space bar in fuselage shell and the space bar, and electric putter's bottom stretches into in the fuselage shell and closely laminates between the cable installation component, and electric putter's middle part is passed through push rod mount fixed mounting on the fuselage shell, and electric putter is connected with the control module electricity.
The cable mounting assembly comprises an upper cable mounting assembly and a lower cable mounting assembly, and the upper cable mounting assembly comprises an upper cable, an upper cable fixing plate, a linear bearing, a guide post, a second current transmitter, a second foot rest, a second wire end fixer, a second U-shaped groove and a second guide bearing;
the lower ends of the four guide columns are fixedly arranged on the partition plate, the upper cable fixing plate is tightly attached to the bottom of the load simulation module, through holes are formed in four corners of the upper cable fixing plate, linear bearings are fixedly arranged on the through holes of the upper cable fixing plate, steps are arranged in the middle of the guide columns, and the upper ends of the four guide columns are coaxially and movably connected with the corresponding linear bearings after penetrating through the through holes; a second guide bearing is fixedly arranged in the middle of one side of the lower surface of the upper cable fixing plate, and two groups of second U-shaped grooves, second wire end holders and second foot frames are fixedly arranged on the lower surface of the upper cable fixing plate in parallel and at intervals with the middle of one side opposite to the side provided with the second guide bearing; the middle part of the upper cable is wound on a second guide bearing, two ends of the upper cable respectively penetrate through two groups of second U-shaped grooves, second wire end holders and second foot frames and then extend downwards, one end of the upper cable extending downwards penetrates through a second current transmitter and then is connected with the control module after penetrating through a partition plate together with the other end of the upper cable extending downwards, the second current transmitter is electrically connected with the control module, and the upper cable is fixedly installed on the lower surface of an upper cable fixing plate in a U-shaped mode;
the lower cable installation assembly comprises a lower cable, a lower cable fixing plate, a first foot rest, a first wire end fixer, a first U-shaped groove, a first guide bearing, a driving sliding table module, a sliding table fixing plate, a transmission block, a driven sliding rail and a first current transmitter;
a lower cable fixing plate is arranged below the upper cable, the lower cable fixing plate is arranged among the four guide posts, a first guide bearing is fixedly arranged in the middle of one side of the upper surface of the lower cable fixing plate, and two groups of first U-shaped grooves, first wire end retainers and first foot frames are fixedly arranged on the upper surface of the lower cable fixing plate in parallel and at intervals with the middle of the side opposite to the side provided with the first guide bearing; the middle part of the lower cable is wound on the first guide bearing, two ends of the lower cable respectively penetrate through the two groups of first U-shaped grooves, the first cable end fixing devices and the first foot frames and then extend downwards, one end of the lower cable extending downwards penetrates through the first current transmitter and then is connected with the control module together with the other end of the lower cable extending downwards after penetrating through the partition plate, the first current transmitter is electrically connected with the control module, and the lower cable is fixedly installed on the upper surface of the lower cable fixing plate in a U-shaped mode so that the lower cable and the upper cable are arranged in a cross contact mode;
the lower surface of the lower cable fixing plate is fixedly connected with two driven slide blocks, the two driven slide blocks are respectively arranged on the two driven slide rails in a sliding manner, the two driven slide rails are both fixedly arranged on a spacing plate, the two driven slide rails are parallel and arranged at intervals, the sliding direction of the driven slide blocks is parallel to the axial direction of a lower cable of the lower cable fixing plate, a transmission block groove is arranged in the spacing plate between the two driven slide rails, a transmission block is fixedly arranged on the lower surface of the lower cable fixing plate, the transmission block penetrates through the transmission block groove and then is fixedly connected with a driving sliding table module, the driving sliding table module is fixedly arranged on a sliding table fixing plate, the two ends of the sliding table fixing plate are fixedly arranged on a bracket, the sliding directions of the transmission block, the driven slide blocks and the driving sliding table module are the same, so that the driving sliding table fixing plate drives the lower cable fixing plate to slide on the driven slide rails through the transmission block, and the reciprocating linear motion of the lower cable fixing plate is realized, thereby wearing and tearing contact department between cable and the last cable down, initiative slip table module is connected with the control module electricity.
The vibration simulation module comprises a vibration table top, an upper bottom frame, a lower bottom frame, a bearing spring, a vibration motor and an eccentric wheel;
the upper surface of the vibration table is fixedly provided with a bottom plate, the lower surface of the vibration table is fixedly provided with an upper chassis, the upper chassis is connected with a lower chassis through a bearing spring, a central cross beam is arranged in the upper chassis, a vibration motor is fixedly arranged on the central cross beam, output shafts at two ends of the vibration motor are respectively and fixedly connected with two eccentric wheels in a coaxial mode, and the vibration motor is electrically connected with a control module.
The control module comprises a control panel, a servo motor driver, a PLC (programmable logic controller), a touch control all-in-one machine and a switching power supply;
the servo motor driver, the PLC, the touch control all-in-one machine and the switching power supply are all fixedly arranged on the control panel, the control panel is fixedly arranged on the bottom plate, and the PLC is electrically connected with the touch control all-in-one machine; the vibration simulation module is electrically connected with the PLC, and the load simulation module and the cable installation assembly are both connected with the PLC through the servo motor driver; the cable installation component is electrically connected with the switching power supply; the cable installation component is electrically connected with the touch control all-in-one machine.
Second, industrial robot cable abrasion testing method based on simulation environment
The method comprises the following steps:
the method comprises the following steps: setting a continuous fluctuation function, a vibration frequency, a reciprocating motion frequency and an amplitude of a load in a test process according to the actual working condition of the robot cable;
step two: respectively installing an upper cable and a lower cable on an upper cable fixing plate and a lower cable fixing plate, and naturally pressing the upper cable on the lower cable;
step three: the two ends of the upper cable are both connected with a high voltage of a power supply, the two ends of the lower cable are both connected with a low voltage of the power supply, the upper cable and the lower cable respectively penetrate into the second current transmitter and the first current transmitter, no current is generated in the upper cable and the lower cable at the moment, and the current indication of the touch control integrated machine is zero;
step four: driving the electric push rod to enable the electric push rod to continuously fluctuate the load generated by the upper cable and the lower cable according to the load continuous fluctuation function set in the step one; driving a vibration motor to provide a vibration simulation environment under the vibration frequency set in the step one for the testing device; driving the driving sliding table module to enable the upper cable and the lower cable to perform sliding friction reciprocating motion according to the reciprocating motion amplitude and frequency set in the step one;
step five: when the central insulating layers of the upper cable and the lower cable are worn and broken down, current flowing to the lower cable from the upper cable is generated, and after the second current transmitter and the first current transmitter detect the current, the current is converted into a constant current ring standard signal and is continuously transmitted to the touch control integrated machine;
after the touch all-in-one machine receives the standard signal of the constant current ring, a counter in the touch all-in-one machine records the reciprocating motion times of the active sliding table module at the moment, and meanwhile, a buzzer sends out an alarm prompt and enables the testing device to stop suddenly, so that the test is completed;
step six: and displaying the relevant data of the test on the touch control integrated machine, and storing and recording the data.
The relevant data of the test comprise the frequency, amplitude, times and time of reciprocating motion, maximum, minimum and average load and vibration frequency.
The invention has the beneficial effects that:
1. the load simulation module designed by the invention realizes the continuous fluctuation change of the load through the propulsion displacement change of the electric push rod, and simulates the load under the actual working condition. And the continuous fluctuation function of the load can be set according to different working condition requirements of the cable, and meanwhile, the universality and pertinence of the test are ensured.
2. The vibration simulation module designed by the invention simulates the environmental vibration under different practical working conditions by controlling the rotating speed of the vibration motor, thereby improving the simulation of the test and the accuracy of the test result.
3. According to the invention, the current in the cable is detected through the current transducer, and the current generated when the upper and lower cables are worn and broken down is transmitted to the touch control integrated machine, so that the wear and breakdown critical point can be accurately captured, and the service life of the cable under different working conditions can be predicted.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of a vibration simulation module.
Fig. 3 is a schematic structural view of a load simulation module and upper and lower cable mounting assemblies.
FIG. 4 is a front view of the load emulation module and upper and lower cable mounting assemblies.
FIG. 5 is a rear view of the load emulation module and upper and lower cable mounting assembly configuration.
In the figure: the device comprises an electric push rod 1, a push rod fixing frame 2, a machine body shell 3, a partition plate 4, a support 5, a bottom plate 6, a vibration table surface 7, an upper base frame 8, a lower base frame 9, a bearing spring 10, a vibration motor 11, an eccentric wheel 12, a control panel 13, a servo motor driver 14, a PLC (programmable logic controller) 15, a touch control integrated machine 16, a switching power supply 17, an upper cable fixing plate 18, a linear bearing 19, a guide post 20, a lower cable 21, a first foot frame 22, a first wire end fixer 23, a first U-shaped groove 24, a lower cable fixing plate 25, a driven sliding block 26, a driven sliding rail 27, an upper cable 28, a second current transmitter 29, a sliding table fixing plate 30, a driving sliding table module 31, a transmission block 32, a first guide bearing 33, a first current transmitter 34, a second foot frame 35, a second wire end fixer 36, a second U-shaped groove 37 and a second guide bearing 38.
Detailed Description
The invention is further illustrated by the following specific examples in conjunction with the accompanying drawings:
as shown in fig. 1, the testing device comprises a vibration simulation module, a load simulation module, a cable installation assembly, a partition plate 4, a bracket 5, a bottom plate 6 and a control module;
load simulation module fixed mounting is on space bar 4, space bar 4 passes through aluminium alloy support 5 and bottom plate 6 fixed connection, cable installation component and space bar 4, the equal fixed connection of aluminium alloy support 5, closely laminate between the bottom of load simulation module and the last cable fixing plate 18 of cable installation component, the last fixed surface of bottom plate 6 installs control module, the lower fixed surface of bottom plate 6 installs vibration simulation module, load simulation module, cable installation component and vibration simulation module all are connected with the control module electricity.
As shown in fig. 2, the vibration simulation module comprises a vibration table 7, an upper chassis 8, a lower chassis 9, a bearing spring 10, a vibration motor 11 and an eccentric wheel 12;
As shown in fig. 1 and 3, the load simulation module includes an electric push rod 1, a push rod fixing frame 2 and a machine body shell 3;
As shown in fig. 1, 3, 4 and 5, the cable installation assembly includes an upper cable installation assembly and a lower cable installation assembly, the upper cable installation assembly includes an upper cable 28, an upper cable fixing plate 18, a linear bearing 19, a guide post 20, a second current transducer 29, a second foot frame 35, a second wire end holder 36, a second U-shaped groove 37 and a second guide bearing 38;
the lower ends of the four guide columns 20 are fixedly arranged on the partition plate 4, the upper cable fixing plate 18 is tightly attached to the bottom of the load simulation module, through holes are formed in four corners of the upper cable fixing plate 18, linear bearings 19 are fixedly arranged on the through holes of the upper cable fixing plate 18, steps are arranged in the middle of the guide columns 20, and the upper ends of the four guide columns 20 are coaxially and movably connected with the corresponding linear bearings 19 after penetrating through the through holes, so that the upper cable fixing plate 18 is limited when the load simulation module pushes the upper cable fixing plate 18 up and down; a second guide bearing 38 is fixedly installed in the middle of one side of the lower surface of the upper cable fixing plate 18, and two groups of second U-shaped grooves 37, second wire end retainers 36 and second foot rests 35 are fixedly installed in the lower surface of the upper cable fixing plate 18 and the middle of the opposite side of the second guide bearing 38 in parallel at intervals; the middle part of the upper cable 28 is wound on a second guide bearing 38, two ends of the upper cable 28 respectively pass through two groups of second U-shaped grooves 37, second wire end holders 36 and second foot rests 35 and then extend downwards, one end of the upper cable 28 extending downwards passes through a second current transmitter 29 and then passes through a partition plate 4 simultaneously with the other end extending downwards and then is connected with the high voltage of a switch power supply 17 of the control module, the second current transmitter 29 is fixedly arranged on the lower surface of an upper cable fixing plate 18, the second current transmitter 29 is electrically connected with a touch control integrated machine 16 of the control module, specifically, the bottoms of the second wire end holders 36 and the second foot rests 35 are fixedly arranged on the lower surface of the upper cable fixing plate 18, the upper cable 28 sequentially passes through the second U-shaped grooves 37, the second wire end holders 36 and the second foot rests 35, the upper cable 28 is coaxially and fixedly connected with the second wire end holders 36, so as to prevent the upper cable 28 from sliding axially in the friction process, the upper cable 28 is fixedly arranged on the lower surface of the upper cable fixing plate 18 in a U shape;
the lower cable installation component comprises a lower cable 21, a lower cable fixing plate 25, a first foot rest 22, a first cable end fixer 23, a first U-shaped groove 24, a first guide bearing 33, a driving sliding table module 31, a sliding table fixing plate 30, a transmission block 32, a driven sliding block 26, a driven sliding rail 27 and a first current transmitter 34;
a lower cable fixing plate 25 is arranged below the upper cable 28, the lower cable fixing plate 25 is arranged among the four guide posts 20, a first guide bearing 33 is fixedly arranged in the middle of one side of the upper surface of the lower cable fixing plate 25, and two groups of first U-shaped grooves 24, first line end holders 23 and first foot rests 22 are fixedly arranged on the upper surface of the lower cable fixing plate 25 in parallel and at intervals with the middle of one side opposite to the side where the first guide bearing 33 is arranged; the middle part of the lower cable 21 is wound on the first guide bearing 33, two ends of the lower cable 21 respectively penetrate through two groups of first U-shaped grooves 24, first wire end holders 23 and first foot frames 22 and then extend downwards, one end of the lower cable 21 extending downwards penetrates through a first current transmitter 34 and then is connected with the low voltage of a switching power supply 17 of the control module, the other end of the lower cable passes through a spacing plate 4 and then is connected with the low voltage of the switching power supply 17 of the control module, the first current transmitter 34 is fixedly arranged on a lower cable fixing plate 25, the first current transmitter 34 is electrically connected with a touch control integrated machine 16 of the control module, specifically, the bottoms of the first wire end holders 23 and the first foot frames 22 are fixedly arranged on the lower surface of the lower cable fixing plate 25, the lower cable 21 sequentially penetrates through the first U-shaped grooves 24, the first wire end holders 23 and the first foot frames 22, the lower cable 21 is coaxially and fixedly connected with the first wire end holders 23, so as to prevent the lower cable 21 from sliding axially in the friction process, the lower cable 21 is fixedly arranged on the upper surface of the lower cable fixing plate 25 in a U shape, and the lower cable 21 and the upper cable 28 are arranged in a cross contact manner in a cross shape;
the lower surface and two driven sliders 26 fixed connection of lower cable fixed plate 25, two driven sliders 26 respectively slidable mounting on two driven slide rails 27, two driven slide rails 27 equal fixed mounting at space bar 4, driven slider 26 and driven slide rail 27 play support cable fixed plate 25 down with guarantee gliding effect. The two driven slide rails 27 are arranged in parallel and at intervals, the sliding direction of the driven slide block 26 is parallel to the axial direction of the lower cable 21 of the lower cable fixing plate 25, a transmission block groove is formed in the partition plate 4 between the two driven slide rails 27, a transmission block 32 is fixedly arranged on the lower surface of the lower cable fixing plate 25, the transmission block 32 penetrates through the transmission block groove and then is fixedly connected with a driving sliding table module 31, the driving sliding table module 31 is fixedly arranged on a sliding table fixing plate 30, two ends of the sliding table fixing plate 30 are fixedly arranged on the bracket 5, the sliding directions of the transmission block 32, the driven slide block 26 and the driving sliding table module 31 are the same, so that the driving sliding table module 31 drives the lower cable fixing plate 25 to slide on the driven sliding rail 27 through the transmission block 32, so as to realize the reciprocating linear motion of the lower cable fixing plate 25, thereby wearing and tearing the contact department between cable 21 and the last cable 28 down, initiative slip table module 31 is connected with the control module electricity.
The control module comprises a control panel 13, a servo motor driver 14, a PLC (programmable logic controller) 15, a touch integrated machine 16 and a switching power supply 17;
the servo motor driver 14, the PLC 15, the touch integrated machine 16 and the switching power supply 17 are all fixedly arranged on the control panel 13, the control panel 13 is fixedly arranged on the bottom plate 6, and the PLC 15 is electrically connected with the touch integrated machine 16; the vibration motor 11 of the vibration simulation module is electrically connected with the PLC 15, and the electric push rod 1 of the load simulation module and the servo motor in the active sliding table module 31 of the cable installation assembly are both connected with the PLC 15 through a servo motor driver 14; the upper cable 28 and the lower cable 21 of the cable installation assembly are electrically connected with the high voltage and the low voltage of the switching power supply 17, respectively; the first current transmitter 34 and the second current transmitter 29 of the cable installation component are electrically connected with the touch control integrated machine 16, current data are transmitted and displayed in real time, a counter and a buzzer are arranged in the touch control integrated machine 16, the reciprocating motion times are recorded, and an alarm is given out when a current signal is received, so that the whole testing device is suddenly stopped.
The test method comprises the following steps:
the method comprises the following steps: according to the actual working condition of the robot cable, setting a load continuous fluctuation function, vibration frequency (namely the rotating speed of the vibration motor 11), reciprocating motion frequency and amplitude in the test process;
step two: the upper cable 28 and the lower cable 21 are respectively installed on the upper cable fixing plate 18 and the lower cable fixing plate 25, and the upper cable 28 naturally presses down on the lower cable 21;
step three: both ends of the upper cable 28 are connected with a high voltage of a power supply, both ends of the lower cable 21 are connected with a low voltage of the power supply, and the upper cable 28 and the lower cable 21 penetrate into the second current transmitter 29 and the first current transmitter 34 respectively, no current is generated in the upper cable and the lower cable at the moment, and the current indication of the touch all-in-one machine 16 is zero;
step four: driving the electric push rod 1 to enable the electric push rod 1 to generate continuous fluctuation on the load of the upper cable 28 and the lower cable 21 according to the load continuous fluctuation function set in the step one; driving a vibration motor 11 to provide a vibration simulation environment under the vibration frequency set in the step one for the testing device; driving the driving sliding table module 31 to enable the upper cable 28 and the lower cable 21 to perform sliding friction reciprocating motion according to the reciprocating motion amplitude and frequency set in the step one;
step five: when the central insulating layers (i.e. the contact between the upper cable 28 and the lower cable 21) of the upper cable 28 and the lower cable 21 are worn and broken down, a current flowing from the upper cable 28 to the lower cable 21 is generated, and after the second current transmitter 29 and the first current transmitter 34 detect the current, the current is converted into a constant current loop standard signal and is continuously transmitted to the touch control all-in-one machine 16;
after the touch all-in-one machine 16 receives the standard signal of the constant current loop, a counter in the touch all-in-one machine 16 records the reciprocating motion times of the active sliding table module 31 at the moment, and meanwhile, a buzzer sends out an alarm prompt and enables the testing device to stop suddenly, so that the test is completed;
step six: the touch control integrated machine 16 displays relevant data of the test, including the frequency, amplitude, frequency and time of the reciprocating motion, the maximum load, the minimum load, the average load and the vibration frequency, and stores and records the data.
By repeating the test method, the abrasion breakdown critical point of the cable under different load states and vibration states can be obtained, so that the purposes of detecting the abrasion reliability of the cable and predicting the service life of the cable under different working conditions are achieved, and a basis is provided for the cable maintenance of the industrial robot.
Claims (6)
1. An industrial robot cable abrasion testing device based on a simulation environment is characterized by comprising a vibration simulation module, a load simulation module, a cable installation component, a partition plate (4), a bracket (5), a bottom plate (6) and a control module; the load simulation module is fixedly arranged on the partition plate (4), the partition plate (4) is fixedly connected with the bottom plate (6) through the bracket (5), the cable installation assembly is fixedly connected with the partition plate (4) and the bracket (5), the load simulation module is tightly attached to the cable installation assembly, the control module is fixedly arranged on the upper surface of the bottom plate (6), the vibration simulation module is fixedly arranged on the lower surface of the bottom plate (6), and the load simulation module, the cable installation assembly and the vibration simulation module are electrically connected with the control module;
the load simulation module comprises an electric push rod (1), a push rod fixing frame (2) and a machine body shell (3); fuselage shell (3) detachably fixed mounting is on space bar (4), and fixed mounting has the cable installation component in fuselage shell (3) and space bar (4), and the bottom of electric putter (1) stretches into in fuselage shell (3) and closely laminates between the cable installation component, and the middle part of electric putter (1) is passed through push rod mount (2) fixed mounting on fuselage shell (3), and electric putter (1) is connected with the control module electricity.
2. The industrial robot cable wear testing device based on the simulated environment according to claim 1, characterized in that the cable mounting assembly comprises an upper cable mounting assembly and a lower cable mounting assembly, the upper cable mounting assembly comprises an upper cable (28), an upper cable fixing plate (18), a linear bearing (19), a guide post (20), a second current transmitter (29), a second foot rest (35), a second linear end fastener (36), a second U-shaped groove (37) and a second guide bearing (38);
the lower ends of the four guide columns (20) are fixedly arranged on the partition plate (4), the upper cable fixing plate (18) is tightly attached to the bottom of the load simulation module, through holes are formed in four corners of the upper cable fixing plate (18), linear bearings (19) are fixedly arranged on the through holes of the upper cable fixing plate (18), steps are arranged in the middle of the guide columns (20), and the upper ends of the four guide columns (20) are coaxially and movably connected with the corresponding linear bearings (19) after penetrating through the through holes; a second guide bearing (38) is fixedly arranged in the middle of one side of the lower surface of the upper cable fixing plate (18), and two groups of second U-shaped grooves (37), second wire end fixers (36) and second foot rests (35) are fixedly arranged in the middle of one side of the lower surface of the upper cable fixing plate (18) opposite to the side provided with the second guide bearing (38) in parallel at intervals; the middle part of the upper cable (28) is wound on a second guide bearing (38), two ends of the upper cable (28) respectively penetrate through two groups of second U-shaped grooves (37), a second wire end fixer (36) and a second foot rest (35) and then extend downwards, one end of the upper cable (28) extending downwards penetrates through a second current transmitter (29) and then simultaneously penetrates through a spacing plate (4) with the other end extending downwards and then is connected with a control module, the second current transmitter (29) is electrically connected with the control module, and the upper cable (28) is fixedly installed on the lower surface of the upper cable fixing plate (18) in a U shape;
the lower cable installation assembly comprises a lower cable (21), a lower cable fixing plate (25), a first foot rest (22), a first cable end fixer (23), a first U-shaped groove (24), a first guide bearing (33), a driving sliding table module (31), a sliding table fixing plate (30), a transmission block (32), a driven sliding block (26), a driven sliding rail (27) and a first current transmitter (34);
a lower cable fixing plate (25) is arranged below the upper cable (28), the lower cable fixing plate (25) is arranged among the four guide columns (20), a first guide bearing (33) is fixedly installed in the middle of one side of the upper surface of the lower cable fixing plate (25), and two groups of first U-shaped grooves (24), first line end fixers (23) and first foot frames (22) are fixedly installed on the upper surface of the lower cable fixing plate (25) in parallel and at intervals with the middle of the opposite side of the lower cable fixing plate (25) where the first guide bearing (33) is installed; the middle part of the lower cable (21) is wound on a first guide bearing (33), two ends of the lower cable (21) respectively penetrate through two groups of first U-shaped grooves (24), a first wire end fixer (23) and a first foot rest (22) and then extend downwards, one end of the lower cable (21) extending downwards penetrates through a first current transmitter (34) and then simultaneously penetrates through a partition plate (4) with the other end extending downwards and then is connected with a control module, the first current transmitter (34) is electrically connected with the control module, and the lower cable (21) is fixedly arranged on the upper surface of a lower cable fixing plate (25) in a U shape, so that the lower cable (21) and the upper cable (28) are arranged in cross contact in a cross shape;
lower surface and two driven slider (26) fixed connection of cable fixed plate (25) down, two driven slider (26) slidable mounting respectively are on two driven slide rail (27), equal fixed mounting in space bar (4) of two driven slide rail (27), two driven slide rail (27) are parallel and the interval sets up, the slip direction of driven slider (26) and the axial direction parallel of cable (21) down of cable fixed plate (25) down, it has the transmission block groove to open in space bar (4) between two driven slide rail (27), the lower fixed surface of cable fixed plate (25) down installs transmission block (32), transmission block (32) pass behind the transmission block groove initiative slip table module (31) fixed connection, initiative slip table module (31) fixed mounting is at slip table fixed plate (30), the both ends fixed mounting of slip table fixed plate (30) is on support (5), transmission block (32), The sliding direction of the driven sliding block (26) is the same as that of the driving sliding table module (31), so that the driving sliding table module (31) drives the lower cable fixing plate (25) to slide on the driven sliding rail (27) through the transmission block (32), the reciprocating linear motion of the lower cable fixing plate (25) is realized, the contact position between the lower cable (21) and the upper cable (28) is abraded, and the driving sliding table module (31) is electrically connected with the control module.
3. The industrial robot cable wear testing device based on simulation environment as claimed in claim 1, characterized in that the vibration simulation module comprises a vibration table (7), an upper chassis (8), a lower chassis (9), a bearing spring (10), a vibration motor (11) and an eccentric wheel (12);
the upper surface of the vibration table top (7) is fixedly provided with a bottom plate (6), the lower surface of the vibration table top (7) is fixedly provided with an upper chassis (8), the upper chassis (8) is connected with a lower chassis (9) through a bearing spring (10), a central cross beam is arranged in the upper chassis (8), a vibration motor (11) is fixedly arranged on the central cross beam, output shafts at two ends of the vibration motor (11) are respectively and fixedly connected with two eccentric wheels (12) in a coaxial mode, and the vibration motor (11) is electrically connected with a control module.
4. The industrial robot cable wear testing device based on the simulation environment is characterized in that the control module comprises a control board (13), a servo motor driver (14), a PLC (programmable logic controller) controller (15), a touch control all-in-one machine (16) and a switching power supply (17);
the servo motor driver (14), the PLC (programmable logic controller) (15), the touch all-in-one machine (16) and the switching power supply (17) are all fixedly arranged on the control panel (13), the control panel (13) is fixedly arranged on the bottom plate (6), and the PLC (15) is electrically connected with the touch all-in-one machine (16); the vibration simulation module is electrically connected with the PLC (15), and the load simulation module and the cable installation assembly are both connected with the PLC (15) through a servo motor driver (14); the cable installation component is electrically connected with the switching power supply (17); the cable installation component is electrically connected with the touch control integrated machine (16).
5. A testing method of an industrial robot cable wear testing device based on a simulation environment according to claim 2, characterized by comprising the steps of:
the method comprises the following steps: setting a continuous fluctuation function, a vibration frequency, a reciprocating motion frequency and an amplitude of a load in a test process according to the actual working condition of the robot cable;
step two: respectively installing an upper cable (28) and a lower cable (21) on an upper cable fixing plate (18) and a lower cable fixing plate (25), wherein the upper cable (28) is naturally pressed on the lower cable (21);
step three: the two ends of the upper cable (28) are connected with high voltage of a power supply, the two ends of the lower cable (21) are connected with low voltage of the power supply, the upper cable (28) and the lower cable (21) penetrate into the second current transmitter (29) and the first current transmitter (34) respectively, no current is generated in the upper cable and the lower cable at the moment, and the current display of the touch control integrated machine (16) is zero;
step four: driving the electric push rod (1) to enable the electric push rod (1) to generate continuous fluctuation of the load of the upper cable (28) and the lower cable (21) according to the load continuous fluctuation function set in the step one; driving a vibration motor (11) to provide a vibration simulation environment under the vibration frequency set in the step one for the testing device; driving the driving sliding table module (31) to enable the upper cable (28) and the lower cable (21) to perform sliding friction reciprocating motion according to the reciprocating motion amplitude and frequency set in the step one;
step five: when the central insulating layers of the upper cable (28) and the lower cable (21) are worn and broken down, current flowing from the upper cable (28) to the lower cable (21) is generated, and after the current is detected by the second current transmitter (29) and the first current transmitter (34), the current is converted into a constant current ring standard signal and is continuously transmitted to the touch control integrated machine (16);
after the touch integrated machine (16) receives the standard signal of the constant current ring, a counter in the touch integrated machine (16) records the reciprocating motion times of the active sliding table module (31) at the moment, and meanwhile, a buzzer sends out an alarm prompt and enables the testing device to suddenly stop, so that the test is completed;
step six: and displaying the relevant data of the test on the touch control integrated machine (16) and storing and recording the data.
6. The test method according to claim 5, wherein the relevant data of the current test comprises frequency, amplitude, number and time of reciprocating motion, maximum, minimum and average load and vibration frequency.
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Effective date of registration: 20230224 Address after: 310018 127-18, Building 1, Shanqi Science and Technology Innovation Park, Qiaoke Town, Jiangdong Village, Hezhuang Street, Qiantang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Jiayu Technology Co.,Ltd. Address before: 310018 Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University |