A manipulator joint drag chain test device and method

Abstract

The present invention relates to the technical field of robotic arm joint testing, and particularly relates to a robotic arm joint drag chain test device and method. The device includes a drag chain fixed support, a drag chain moving support, and a motor for driving the rotation of the drag chain moving support. The drag chain fixed support includes a fixed support cylinder, a fixed support end cover, a fixed support chassis, and a cable inlet cylinder. The drag chain moving support includes a moving support cylinder sleeved outside the fixed support cylinder and coaxially arranged with the fixed support cylinder, and a moving support end cover and a cable inlet end rotating end cover respectively arranged at the two openings at both ends of the moving support cylinder. The present invention can not only simulate reciprocating motion, test the performance of the cable during the reciprocating motion process, improve the accuracy of the test results, but also test cables of different models from two directions, namely the horizontal direction and the vertical direction. Moreover, the present invention can simultaneously test the performance of multiple cables of different models, with high test efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arm joint testing, and particularly relates to a robotic arm joint drag chain test device and method. Background Art

[0002] With the development of industrial automation, robotic arms have been increasingly popular in various industries. A robotic arm usually includes multiple joints, and the stable and efficient operation of the robotic arm is closely related to the performance of each joint. The cables in the robotic arm joints play an important role during the operation of the robotic arm. When the robotic arm is in use, it needs to perform reciprocating motions frequently. Therefore, it is necessary to test the performance of the cables in the joints before and after the reciprocating motion. At the same time, industrial robotic arms usually have large components, and the assembly and disassembly are relatively complex. If a certain joint stops or malfunctions during the operation of the machine, serious consequences will occur. Therefore, before assembling the robotic arm, it is necessary to test the performance of the cables in the robotic arm joints to ensure its normal operation.

[0003] Currently, using a drag chain to test cables has become a relatively common test solution. Chinese Patent CN206399648 U discloses a cable drag chain test device. In this device, two mutually parallel guide grooves for facilitating the high-speed movement of the cable drag chain are provided on the drag chain bed, and the performance problems of the cables can be accurately detected by avoiding the influence of sensors. Chinese Patent CN 209615565 U discloses a joint load test device. The bracket of this device fixes the input end of the joint, and the output end of the joint is fixedly connected to the load by using a connecting component, which can test whether the joint operates normally under the load state and improves the accuracy of robotic arm joint testing. However, when the robotic arm is in operation, it may have multiple angles. There is currently no good solution for testing the performance of the cables in the reciprocating motion state.

[0004] The existing robotic arm cable performance testing methods mainly have the following problems: First, they can only test the performance of a single cable or two cables, while there are various different cables in the joints of the robotic arm, and multiple cables cannot be tested simultaneously, resulting in low test efficiency; Second, the reciprocating motion process of the robotic arm joint cannot be accurately restored, and there are large errors in the test results; Third, when the robotic arm is in operation, it works from multiple angles, and the existing testing methods cannot achieve testing at multiple angles; Fourth, the cables during the test process cannot be observed in real time, and the error problems during the operation of the device cannot be corrected in time. Summary of the Invention

[0005] The object of the present invention is to provide a manipulator joint drag chain test device and method, which can solve the deficiencies in the prior art. It can not only simulate reciprocating motion, test the performance of cables during the reciprocating motion process, improve the accuracy of test results, but also test cables of different models from two directions, namely the horizontal direction and the vertical direction. Moreover, the present invention can simultaneously test the performance of multiple cables of different models, with high test efficiency.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] A manipulator joint drag chain test device includes a drag chain fixed support, a drag chain moving support, and a motor for driving the rotation of the drag chain moving support.

[0008] The drag chain fixed support includes a fixed support cylinder, a fixed support end cover and a fixed support chassis respectively arranged at both ends of the opening of the fixed support cylinder, and an inlet tube arranged outside the fixed support chassis and communicating with the inside of the fixed support cylinder.

[0009] The drag chain moving support includes a moving support cylinder sleeved outside the fixed support cylinder and coaxially arranged with the fixed support cylinder, and a moving support end cover and an inlet end rotating end cover respectively arranged at both ends of the opening of the moving support cylinder.

[0010] Further, the motor includes a motor main body and a motor connecting shaft connected to the output end of the motor main body; an outlet end support is sleeved outside the middle section of the motor connecting shaft; the motor connecting shaft includes a connecting part one, a connecting part two, a connecting part three, and a connecting part four arranged in sequence; the connecting part one is connected to the output end of the motor main body, the connecting part two is connected to the outlet end support through a bearing one, the connecting part three is fixedly connected to the moving support end cover, and the connecting part four is connected to the fixed support end cover through a bearing two.

[0011] Further, an external baffle is installed on the drag chain fixed support chassis; an internal baffle is installed on the moving support end cover; both the external baffle and the internal baffle are located between the moving support cylinder and the fixed support cylinder.

[0012] Further, a notch one is opened on the fixed support cylinder, and a notch two is opened on the moving support end cover.

[0013] Further, an inlet end support is sleeved outside the inlet tube, and the inlet tube is connected to the inlet end rotating end cover through a bearing three.

[0014] Further, the device further includes a drag chain, and a plurality of cable channels are provided on the drag chain, and a separator is provided between adjacent cable channels; the diameters of a plurality of cables placed in each cable channel decrease sequentially from the middle of the drag chain to both sides.

[0015] Further, the device further includes a test platform; the test platform includes a bracket and a flat plate disposed on the top of the bracket; an optoelectronic switch is installed on the test platform.

[0016] Further, both the drag chain fixed support and the drag chain movable support are made of PMMA material.

[0017] Further, a shielding object is provided on the end cover of the movable support.

[0018] The present invention also relates to a test method for the above-mentioned robotic arm joint drag chain test device, and the method includes the following steps:

[0019] (1) Install a plurality of cables on the drag chain.

[0020] (2) Connect one end of the drag chain to the fixed support cylinder and the other end to the movable support cylinder. Pass the cable in the end of the drag chain connected to the fixed support cylinder through notch one into the fixed support cylinder, and then pass it out through the opening of the inlet cylinder. The cable in the end of the drag chain connected to the movable support cylinder passes out through notch two. The two ends of the cable pass out through the inlet cylinder and notch two respectively, aiming to expose the two ends of the cable to be connected to the measuring instrument to test the performance of the cable.

[0021] (3) Set the rotation direction and speed of the motor. Start the motor to drive the movable support cylinder to rotate. When the movable support cylinder rotates, the drag chain equipped with the cable winds around the outer circumference of the fixed support cylinder along the outer circumference of the fixed support cylinder.

[0022] (4) When the movable support cylinder rotates to the set limit position, when the shielding object on the end cover of the movable support passes through the optoelectronic switch, the optoelectronic switch sends a signal to the controller. The controller controls the motor to decelerate and changes the rotation direction of the motor, making the rotation direction of the motor opposite to the rotation direction in step (3). After the rotation direction of the motor changes, then restore the speed of the motor to the set speed for rotation. The movable support cylinder rotates in the same direction as the motor, and the drag chain moves in the same direction as the movable support cylinder. The drag chain wound around the movable support cylinder loosens from the movable support cylinder; the optoelectronic switch needs a shielding object to be triggered. The position of the shielding object is determined after calculating the limit position.

[0023] (5) When the movable support cylinder rotates to the initial position, the shielding object on the end cover of the movable support passes through the optoelectronic switch again. The optoelectronic switch sends a signal to the controller. The controller controls the motor to decelerate and changes the rotation reverse of the motor, making the rotation direction of the motor opposite to the rotation direction in step (4). After the rotation direction of the motor changes, then restore the speed of the motor to the set speed for rotation. The movable support cylinder rotates in the same direction as the motor, and the drag chain moves in the same direction as the movable support cylinder. The drag chain equipped with the cable winds around the fixed support cylinder again. Collect cable data at the set time point and analyze the cable data.

[0024] Compared with the prior art, the advantages of the present invention are as follows:

[0025] (1) By designing a fixed support for the drag chain and a moving support for the drag chain that can rotate relative to each other, the present invention can achieve reciprocating motion under the drive of a motor and the induction control of an optoelectronic switch, and test the performance of the cables in the robotic arm joint under reciprocating motion.

[0026] (2) By using a drag chain to place multiple cables and specially designing the placement method of the multiple cables in the drag chain, the present invention can test the performance of multiple different types of cables at one time. The present invention places different types of cables into the drag chain through the drag chain, fixes one end of the drag chain to the moving support cylinder and the other end to the fixed support cylinder. When the moving support cylinder rotates, the drag chain will rotate with the moving support cylinder and wind around the outer circumference of the fixed support cylinder, enabling different types of cables to achieve the test effect simultaneously.

[0027] (3) By setting an optoelectronic switch, when the moving support of the drag chain and the drag chain rotate, when the shielding object on the end cover of the moving support passes through the optoelectronic switch, the controller will control the motor to decelerate according to the signal detected by the optoelectronic switch, causing the motor to rotate in the opposite direction to the previous one, without the need for manual operation to change the position, avoiding human errors and reducing the working danger.

[0028] (4) Both the moving support of the drag chain and the fixed support of the drag chain in the present invention are made of PMMA material, so that the internal situation can be clearly seen during the operation of the device, facilitating timely correction of errors during the operation of the device.

[0029] (5) The test platform in the present invention is used to place the fixed support of the drag chain, the moving support of the drag chain and the motor, and can change the placement direction according to the test requirements, thereby realizing the test of the robotic arm joint from two angles of the horizontal direction and the vertical direction. Brief Description of the Drawings

[0030] Figure 1 is the structural schematic diagram of the drag chain test device for the robotic arm joint in the present invention Figure 1 ;

[0031] Figure 2 is the structural schematic diagram of the drag chain test device for the robotic arm joint in the present invention Figure 2 ;

[0032] Figure 3 is the top view of the drag chain test device for the robotic arm joint in the present invention;

[0033] Figure 4 is the top view of the drag chain test device for the robotic arm joint in the present invention;

[0034] Figure 5 It is a schematic structural diagram of the drag chain fixed support in the present invention;

[0035] Figure 6 It is a schematic structural diagram of the motor connecting shaft in the present invention.

[0036] Among them:

[0037] 1. Motor, 2. Flat plate, 3. Bracket, 4. Motor connecting shaft, 5. Outlet end support, 6. Moving support end cover, 7. Inlet end support, 8. Inlet end rotating end cover, 9. Moving support cylinder, 10. Bearing III, 11. Inlet cylinder, 12. Drag chain, 13. Fixed support chassis, 14. Fixed support cylinder, 15. External baffle, 16. Internal baffle, 17. Installation bracket, 18. Fixed support end cover, 19. Notch I, 20. Fixed hole. Specific implementation mode

[0038] The present invention will be further described below with reference to the accompanying drawings:

[0039] As Figures 1 - 6 shown, a manipulator joint drag chain test device includes a drag chain fixed support, a drag chain moving support, and a motor 1 for driving the rotation of the drag chain moving support. The drag chain moving support and the drag chain fixed support form a rotation module, and cables of different models are fixed through the drag chain in the rotation module. One end of the drag chain 12 is fixed to the drag chain fixed support, and the other end is fixed to the moving support cylinder of the drag chain. The cable is placed in the drag chain 12, and the present invention can test 38 cables simultaneously. One end of the cable first enters the fixed support cylinder 14 from the notch I 19, and then passes outwards through the inlet cylinder 11. The other end of the cable passes out through the notch II. When the moving support cylinder 9 rotates, one end of the drag chain 12 will rotate accordingly, forming a motion state of rotating around the fixed support cylinder. An optoelectronic switch is installed on the test platform. When the shielding object on the moving support end cover 6 passes through the optoelectronic switch, the optoelectronic switch sends a signal to the controller, and the controller and the frequency converter regulate the motor 1 to drive the motor to move in the opposite direction to the previous one, thereby generating a reciprocating motion transmission method, and then the performance of the cable after multiple reciprocating motions can be tested.

[0040] The drag chain fixed support includes a fixed support cylinder 14, a fixed support end cover 18 respectively arranged at the openings at both ends of the fixed support cylinder 14, a fixed support chassis 13, and an inlet drum 11 arranged on the outside of the fixed support chassis 13 and communicating with the inside of the fixed support cylinder 14. The fixed support end cover 18 is connected to the motor connecting shaft 4 through a bearing 1. The outer side of the inlet drum 11 is sleeved with an inlet end support 7, and a fixing hole 20 is opened on the inlet end support 7. The inlet drum 11 is installed in the fixing hole 20. The inlet end support 7 is installed on the top of the flat plate 2. The center lines of the motor connecting shaft 4, the fixed support cylinder 14, the inlet drum 11, and the movable support cylinder 9 coincide, and the four are coaxially arranged. The fixed support cylinder 14 is connected to the fixed support end cover 18 and the fixed support chassis 13 by screws, and the fixed support end cover 18 is connected to the motor connecting shaft 4 through a bearing 2. The fixed support chassis 13 is connected to the inlet drum 11. A mounting bracket 17 is mounted on the fixed support chassis 13, an external baffle 15 is fixed on the mounting bracket 17, and an internal baffle is fixed to the movable support end cover 6 through another mounting bracket. Both the external baffle 15 and the internal baffle 16 are used to prevent the drag chain from falling off the track when rotating.

[0041] The drag chain movable support includes a movable support cylinder 9 sleeved on the outside of the fixed support cylinder 14 and coaxially arranged with the fixed support cylinder 14, and a movable support end cover 6 and an inlet end rotating end cover 8 respectively arranged at the openings at both ends of the movable support cylinder 9. The motor 1 drives the motor connecting shaft 4 to rotate, and the motor connecting shaft 4 is fixedly connected to the movable support end cover 6, driving the movable support cylinder 9 to rotate. The motor connecting shaft 4 is connected to the outlet end support 5 through the bearing 1, and the inlet end rotating end cover 8 is connected to the inlet cylinder 11 through the bearing 3 10, so that under the drive of the motor, the drag chain movable support and the drag chain fixed support can rotate relative to each other.

[0042] Furthermore, the motor 1 includes a motor body and a motor connecting shaft 4 connected to the output end of the motor body. The motor connecting shaft 4 is sleeved with an outlet terminal support 5 on the outer side of the middle section. Figure 6As shown in the figure, the motor connecting shaft 4 includes a first connecting part, a second connecting part, a third connecting part, and a fourth connecting part arranged in sequence from left to right; the diameters of the four connecting parts are different, presenting a stepped shape. The stepped shape is designed to better connect the motor connecting shaft 4 with the moving support end cover 6 and the fixed support end cover 18. The first connecting part is connected to the output end of the motor body, the second connecting part is connected to the wire outlet end support 5 through a first bearing, the third connecting part is fixedly connected to the moving support end cover 6, and the fourth connecting part is connected to the fixed support end cover through a second bearing. To ensure that the middle shaft is on a horizontal line and enable the motor to better drive the moving support end cover to rotate, the third connecting part with the largest diameter is used to connect with the moving support end cover 6, and at the same time, the fixed support end cover 18 can be connected to the motor connecting shaft 4. The motor 1 is powered on, and the speed and rotation direction of the motor 1 are adjusted and controlled through an inverter and a controller. The rotation of the motor 1 drives the rotation of the motor connecting shaft 4. One end of the motor connecting shaft 4 has a U-shaped notch to clamp the motor 1. The motor connecting shaft 4 is connected to the wire outlet end support 5 through a first bearing to achieve the effect of relative rotation. The motor connecting shaft 4 is fixed to the moving support end cover 6 through screws, thereby driving the rotation of the moving support cylinder 9. The rear end inlet end rotating end cover 8 is connected to the inlet cylinder 11 through a third bearing 10. One end of the inlet cylinder 11 is fixed to the inlet end support 7 to generate relative rotation.

[0043] In the test device of the present invention, three bearings are included. The first bearing is arranged between the motor connecting shaft 4 and the wire outlet end support 5, aiming to generate a relative movement between the motor connecting shaft 4 and the wire outlet end. The wire outlet end support 5 is connected to the bottom flat plate 2 to prevent the rotation module from being stressed and generating errors. The second bearing is arranged on the motor connecting shaft and the fixed support end cover 18. When the motor connecting shaft 4 drives the moving support end cover 6 to rotate, to ensure that the middle drag chain fixed support does not rotate and is on the same axis as the motor 1. The third bearing 10 is arranged between the inlet end rotating end cover 8 and the inlet cylinder 11. Similar to the second bearing, when the inlet end rotating end cover 8 rotates at the inlet end, the third bearing is used to ensure that the inlet cylinder does not rotate and does not generate friction.

[0044] Furthermore, an external baffle 15 is installed on the fixed support chassis 13; an internal baffle 16 is installed on the moving support end cover 6; both the external baffle 15 and the internal baffle 16 are located between the moving support cylinder 9 and the fixed support cylinder 14. When the drag chain 12 rotates, to ensure that the drag chain can better rotate around the fixed support cylinder 14 and prevent the drag chain 12 from falling off and generating test errors, the internal baffle 16 will rotate with the rotation of the moving support end cover 6 and will meet the external baffle 15. When the drag chain 12 rotates around the fixed support cylinder 14 to a certain angle, the external baffle 15 will prevent the drag chain 12 from falling off and enable the drag chain 12 to continue to move along the track. When the drag chain 12 rotates to a certain angle, the internal baffle 16 can ensure that the drag chain 12 can continue to closely rotate around the fixed support cylinder 14.

[0045] Further, a first notch 19 is formed on the fixed support cylinder 14, and a second notch is formed on the movable support end cover 6.

[0046] Further, an inlet wire cylinder support 7 is sleeved outside the inlet wire cylinder 11, and the inlet wire cylinder 11 is connected to the inlet wire rotating end cover 8 through a third bearing 10.

[0047] Further, the device further includes a drag chain 12. A plurality of cable channels are provided on the drag chain 12, and partition sheets are provided between adjacent cable channels; the diameters of a plurality of cables placed in each cable channel gradually decrease from the middle of the drag chain to both sides.

[0048] Further, the device further includes a test platform; the test platform includes a bracket 3 and a flat plate 2 arranged on the top of the bracket 3; a photoelectric switch is installed on the test platform. A photoelectric switch is placed on the test platform, and a position for placing an object to be blocked is measured on the movable support end cover 6. When the object to be blocked rotates past the photoelectric switch, the device will move in the reverse direction, and when it passes the photoelectric switch again, it will move in the reverse direction again, thus generating a reciprocating movement process. The drag chain 12 will rotate back and forth around the drag chain fixed support inside the drag chain movable support, so as to achieve the purpose of testing the cable performance during reciprocating movement.

[0049] Further, both the drag chain fixed support and the drag chain movable support are made of transparent PMMA material, so that the internal situation can be clearly seen during the operation of the device, which is convenient for timely correcting errors during the operation of the device.

[0050] The present invention also relates to a test method for the above-mentioned manipulator joint drag chain test device, and the method includes the following steps:

[0051] (1) Install a plurality of cables on the drag chain. Specifically, fix the partition sheets on the drag chain in sequence, and then install the cables in two horizontal rows. 38 cables are arranged in 19 columns, with the cables having larger diameters placed in the middle and those with smaller diameters placed on both sides. After placing, add filler sheets to fix the drag chain and the cables.

[0052] The drag chain is light in weight, strong and has a long service life, and is suitable for all types of movements. The drag chain is the umbilical cord of modern automatic systems, and it continuously moves back and forth to provide power, data, and energy. The drag chain selected in the present invention is the igus E4.1 series drag chain. This drag chain adopts a modular design, is easy to install, and has good media resistance. The drag chain system is an ideal choice for cables and media pipes with extremely small or extremely large bending radii and carrying heavy loads. In the case of the same size or a smaller size, the igus E4.1 series drag chain has higher strength, and almost all accessory and joint sizes are consistent with the original model. The E4.1 series drag chain has a longer service life and lower cost.

[0053] In the test, cables of various models with each being 3 meters long are arranged in two vertical rows in the drag chain. In actual installation, the cables with larger diameters are placed in the middle, and the cables with smaller diameters are installed on both sides in sequence. During the use of the drag chain cables, they will move back and forth rapidly. Therefore, when installing the drag chain cables, the drag chains cannot touch or adhere to each other, otherwise it will affect the service life of the drag chain cables. Therefore, during the installation of the drag chain cables, they should be neatly arranged and each should stay in its own lane. In this embodiment, they are installed in two horizontal rows, and 38 cables are arranged in 19 columns. The cables with larger diameters are placed in the middle, and those with smaller diameters are placed on both sides. A separator is installed between each column of cables to fix and lock the cables. To prevent the cables from being overweight on one side or damaging the drag chain when the drag chain is placed sideways. At distances that are multiples of 5, separator type 32.5 is installed to lock, and separator type 32.1 is installed in other places, and then filler sheets are added to fix the drag chain and the cables.

[0054] (2) Connect one end of the drag chain to the fixed support cylinder and the other end to the movable support cylinder. Pass the cable in the end of the drag chain connected to the fixed support cylinder into the fixed support cylinder through notch one, and then pass it out through the opening of the inlet cylinder. The cable in the end of the drag chain connected to the movable support cylinder passes out through notch two.

[0055] (3) Set the rotation direction and speed of the motor. Start the motor, which drives the movable support cylinder to rotate. When the movable support cylinder rotates, the drag chain and the cables in the drag chain wind around the outer circumference of the fixed support cylinder. The inner baffle and the outer baffle are used to prevent the drag chain from falling off. The inner baffle will rotate as the movable support end cover rotates, ensuring that the drag chain closely winds around the drag chain fixed support cylinder.

[0056] (4) When the movable support cylinder rotates to the limit position (expected to rotate 360 degrees), the obstacle on the movable support end cover will pass by the photoelectric switch. At this time, the photoelectric switch receives the signal and transmits the signal to the controller, and the controller will send a signal to perform deceleration and reverse movement operations on the motor. At this time, the drag chain will move in the reverse direction along with the drag chain support cylinder, and the drag chain will wind around the drag chain support cylinder. The outer baffle and the inner baffle continue to prevent the drag chain from falling off, enabling the drag chain to wind around the drag chain support cylinder.

[0057] When the movable support cylinder returns to the initial position, the shielding object on the end cover of the movable support passes by the photoelectric switch again, and the photoelectric switch sends a signal to the controller. The controller controls the motor to decelerate, changes the rotation direction of the motor, making the rotation direction of the motor opposite to that in step (4). After the rotation direction of the motor is changed, the rotational speed of the motor is restored to the set rotational speed for rotation. The movable support cylinder rotates in the same direction as the motor, and the drag chain moves in the same direction as the movable support cylinder. The drag chain equipped with the cable winds around the fixed support cylinder again, and the cable data is collected at the set time point, and the cable data is analyzed. Before and after such times as 12 hours, 24 hours, and 48 hours of the operation of the drag chain system, the cable data is collected and analyzed and compared to obtain the experimental results.

[0058] The above-described embodiments are merely descriptions of the preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A manipulator joint drag chain test device, characterized in that: It includes a drag chain fixed support, a drag chain movable support, and a motor for driving the rotation of the drag chain movable support; The drag chain fixed support includes a fixed support cylinder, a fixed support end cover and a fixed support chassis respectively arranged at the two open ends of the fixed support cylinder, and a wire inlet cylinder arranged outside the fixed support chassis and communicating with the inside of the fixed support cylinder; The drag chain movable support includes a movable support cylinder sleeved outside the fixed support cylinder and coaxially arranged with the fixed support cylinder, and a movable support end cover and a wire inlet end rotating end cover respectively arranged at the two open ends of the movable support cylinder; an external baffle is installed on the fixed support chassis of the drag chain; an internal baffle is installed on the movable support end cover; both the external baffle and the internal baffle are located between the movable support cylinder and the fixed support cylinder; a notch one is opened on the fixed support cylinder, and a notch two is opened on the movable support end cover; the device further includes a drag chain, and a plurality of cable channels are arranged on the drag chain, and a separator is arranged between adjacent cable channels.

2. The robotic arm joint drag chain test device according to claim 1, wherein: The motor includes a motor main body and a motor connecting shaft connected to the output end of the motor main body; an outlet end support is sleeved outside the middle section of the motor connecting shaft; the motor connecting shaft includes a connecting part one, a connecting part two, a connecting part three and a connecting part four arranged in sequence; the connecting part one is connected to the output end of the motor main body, the connecting part two is connected to the outlet end support through a bearing one, the connecting part three is fixedly connected to the movable support end cover, and the connecting part four is connected to the fixed support end cover through a bearing two.

3. The robotic arm joint drag chain test device according to claim 1, characterized in that: An inlet end support is sleeved outside the wire inlet cylinder, and the wire inlet cylinder is connected to the inlet end rotating end cover through a bearing three.

4. A robotic arm joint drag chain test device according to claim 1, characterized in that: The diameters of several cables placed in each cable channel gradually decrease from the middle of the drag chain to both sides.

5. The manipulator joint drag chain test device according to claim 1, characterized in that: The device further includes a test platform; the test platform includes a bracket and a flat plate arranged at the top of the bracket; a photoelectric switch is installed on the test platform.

6. The robotic arm joint drag chain test device according to claim 1, wherein: Both the drag chain fixed support and the drag chain movable support are made of PMMA material.

7. A manipulator joint drag chain test device according to claim 1, characterized in that: A shielding object is arranged on the movable support end cover.

8. The test method of the manipulator joint drag chain test device according to claims 1 to 7, characterized in that: The method includes the following steps: (1) Install several cables on the drag chain; (2) Connect one end of the drag chain to the fixed support cylinder and the other end to the movable support cylinder. Pass the cable in the end of the drag chain connected to the fixed support cylinder into the fixed support cylinder through the notch one, and then pass it out through the opening of the wire inlet cylinder. Pass the cable in the end of the drag chain connected to the movable support cylinder out through the notch two; (3) Set the rotation direction and speed of the motor, start the motor, drive the movable support cylinder to rotate. When the movable support cylinder rotates, the drag chain equipped with cables winds around the outer circumference of the fixed support cylinder along the outer circumference of the fixed support cylinder; (4) When the moving support cylinder rotates to the set limit position and the shield on the moving support end cover passes by the photoelectric switch, the photoelectric switch sends a signal to the controller. The controller controls the motor to decelerate, changes the rotation direction of the motor, making the rotation direction of the motor opposite to the rotation direction in step (3). After the rotation direction of the motor is changed, the rotation speed of the motor is restored to the set rotation speed and rotates. The moving support cylinder rotates in the same direction as the motor, and the drag chain moves in the same direction as the moving support cylinder. The drag chain wound around the moving support cylinder is loosened from the moving support cylinder. (5) When the moving support cylinder rotates to the initial position, the shield on the moving support end cover passes by the photoelectric switch again. The photoelectric switch sends a signal to the controller. The controller controls the motor to decelerate, changes the rotation direction of the motor, making the rotation direction of the motor opposite to the rotation direction in step (4). After the rotation direction of the motor is changed, the rotation speed of the motor is restored to the set rotation speed and rotates. The moving support cylinder rotates in the same direction as the motor, and the drag chain moves in the same direction as the moving support cylinder. The drag chain equipped with the cable is wound around the fixed support cylinder again, and the cable data is collected at the set time point and the cable data is analyzed.

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