An industrial robot cable wear test method and device under compound motion
An industrial robot and compound motion technology, which is applied in the direction of testing wear resistance, manipulators, manufacturing tools, etc., can solve problems such as accelerated wear, and achieve the effect of promoting wear resistance reliability
Active Publication Date: 2022-05-06
HANGZHOU DIANZI UNIV
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[0005] The present invention aims at the shortcomings of current industrial robot cables that do not have reliability testing methods and devices for rotational friction and wear and accelerated wear, and provides a testing method and device based on sliding and rotating friction and wear and accelerated wear between cables
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[0038] The present invention will be further described below in conjunction with the accompanying drawings.
[0039] Such as figure 1 and 2 As shown, an industrial robot cable wear test device under compound motion includes a bottom plate 1, an image acquisition linear module 3, an upper cable installation component, a lower cable installation component, an image extraction component and a control module. The upper cable installation component and the lower cable installation component simulate the friction and wear motion generated by the movement of the robot body structure under the multi-working conditions of the industrial robot cable.
[0040] The upper cable installation assembly includes a vertical support 2 , an upper cable fixer 6 , a traversing guide rail 7 , a load frame 8 , a load weight 9 , a vertical guide rail 10 , a traversing linear module 20 and a linear load sensor 21 . The linear load sensor 21 adopts a tension sensor. Two vertical supports 2 arranged a...
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The invention discloses an industrial robot cable wear test method and device under compound motion. In the prior art, there is a lack of wear test methods for industrial robot cables, and even less wear test methods that can combine sliding friction and rotational friction. The present invention is as follows: 1. Set the load force, reciprocating times and frequency-amplitude mode type in the test process. 2. Fix the upper cable and the lower cable to the test device; 3. Apply a load and conduct a friction test; 4. Separate the two cables; 5. Take a picture of the lower cable and extract the wear parameters. The invention constructs the friction simulation of the industrial robot cable through the motion simulation of variable frequency and variable amplitude, and simulates the fretting friction and wear formed between adjacent cables when the industrial robot cable moves with the structure of the robot body. The present invention can directly obtain the relationship between the wear resistance reliability of the robot cable and the test working conditions by performing the composite friction and wear test.
Description
technical field [0001] The invention belongs to the technical field of wear testing of industrial robots, and in particular relates to a reliability testing method and device for cable wear and accelerated wear of industrial robots. Background technique [0002] Industrial robots are one of the important ways to realize the intelligentization of industrial automation, and their efficient working methods replace the original inefficient human working methods. The ensuing problem is the reliability of industrial robots. Only safe and reliable robots can promote the development of industry, the popularization of robots and the development of the robot industry. As the carrier of robot signal power transmission, the research on the reliability test of robot cables is very necessary, and robot cables often cause a series of cable failures due to the wear of the insulation layer. Therefore, the research on the wear reliability of robot cables It is very necessary. [0003] At pr...
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IPC IPC(8): G01N3/56B25J19/00
CPCG01N3/56B25J19/00B25J19/0095
Inventor 倪敬任旭潘嘉煜蒙臻
Owner HANGZHOU DIANZI UNIV