A cable life detection device and method for a robot

Abstract

The application provides a cable life detection device and method of a robot, the detection device comprising a first mechanism, the first mechanism comprising a first adjusting assembly and a swing assembly, a first clamping part being arranged on the first adjusting assembly, the first adjusting assembly being used for adjusting the first clamping part to move in a first direction, a second direction and a third direction; the swing assembly is used for driving the first adjusting assembly to rotate, the direction of the rotation axis being the first direction, a second clamping part being arranged on a second adjusting assembly, the second adjusting assembly being used for adjusting the second clamping part to move in the second direction and the third direction, the first clamping part and the second clamping part being respectively used for clamping different positions of a to-be-detected cable, a detection mechanism being electrically connected with the to-be-detected cable and being used for detecting the resistance change rate of the to-be-detected cable. The cable life detection result obtained by the scheme has high accuracy and reliability, the structure is simple, easy to measure and low in cost.

Description

Technical Field

[0001] This application relates to the technical field of industrial robot cable reliability, specifically to a robot cable life testing device and testing method. Background Technology

[0002] With the continuous development of informatization and industrialization, industrial robots are being used more and more widely. As a core component of robots, cables are installed on robots by clamping at fixed points. Because the cable body is flexible, the unfixed part will undergo complex deformation with the movement of the robot body. Local stress fatigue will occur in the cable, and the cables inside the cable bundle will rub against each other and be damaged, resulting in a reduction in the service life of the cable. In order to ensure the overall reliability of the robot, the deformation characteristics of the cable under real working conditions and the mechanical life prediction of the cable need to be considered in the design stage of different types of robots.

[0003] In existing technologies, fatigue life is often tested by continuously bending and twisting the cable. However, since it is impossible to simulate the state of the cable when it is fixed at the clamping point of the robot and when it hangs naturally in other positions, it is also impossible to predict the deformation effect of the robot's joints on the cable during actual movement. As a result, this method lacks accuracy and reliability in detecting the cable life of the robot. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide a cable life detection device and detection method for robots.

[0005] In a first aspect, this application proposes a cable life detection device for a robot, comprising:

[0006] A first mechanism includes a first adjustment component and a swing component. The first adjustment component is provided with a first clamping part and is used to adjust the first clamping part to move along a first direction, a second direction, and a third direction. The swing component is used to drive the first adjustment component to rotate, and the direction of the rotation axis is the first direction.

[0007] A second adjustment component is provided with a second clamping part, and the second adjustment component is used to adjust the movement of the second clamping part along the second direction and the third direction; the first direction, the second direction, and the third direction are perpendicular to each other;

[0008] The first clamping part and the second clamping part are respectively used to clamp the cable to be tested at different positions;

[0009] The testing mechanism is electrically connected to the cable under test and is used to detect the rate of change of resistance of the cable under test.

[0010] According to the technical solution provided in the embodiments of this application, the device further includes:

[0011] A third adjustment component is disposed between the first mechanism and the second adjustment component. The third adjustment component is provided with a third clamping part. The third adjustment component is used to adjust the movement of the third clamping part along the first direction and the third direction. The third clamping part is used to clamp the cable under test. The clamping position of the third clamping part on the cable under test is different from that of the first clamping part and the second clamping part.

[0012] According to the technical solution provided in the embodiments of this application, the first adjustment component includes a first driving component and a first frame that is slidably connected to the first driving component, wherein the sliding direction of the first frame is the second direction.

[0013] According to the technical solution provided in the embodiments of this application, the first driving component includes a first lead screw and a first slider that slides on the first lead screw. The first slider is connected to the first frame on one side along the first direction, and the swing component is provided on one side along the third direction of the first slider. The swing component is used to drive the first frame to rotate.

[0014] According to the technical solution provided in the embodiments of this application, the first frame is provided with a second drive component, the second drive component is provided with a second frame that is slidably connected to it, and the sliding direction of the second frame is the third direction.

[0015] According to the technical solution provided in the embodiments of this application, the extension direction of the second frame is the second direction, the second frame is provided with a third drive assembly, the third drive assembly is provided with a third frame slidably connected thereto, the sliding direction of the third frame is the second direction, the third frame is provided with a fourth drive assembly, the fourth drive assembly includes a fourth lead screw and a fourth slider that slides on the fourth lead screw, the fourth slider and a first clamp provided thereon together form the first clamping part.

[0016] According to the technical solution provided in the embodiments of this application, the testing device is set on a testing platform, and a support base is provided on the testing platform; the first driving component is provided on the side of the support base away from the testing platform; the swing component includes a joint drive motor, a first reducer, and a first turntable connected to the output end of the first reducer, which are arranged sequentially along the first direction, and the first turntable extends out of the support base and is connected to the first frame.

[0017] According to the technical solution provided in the embodiments of this application, the third adjustment component includes at least a position control motor and a second reducer disposed on the back of the testing platform and arranged sequentially along the third direction; the output end of the second reducer is connected to a second turntable disposed on the front of the testing platform, and a fourth frame is connected to the second turntable.

[0018] According to the technical solution provided in the embodiments of this application, the second adjustment component includes a fifth frame, a fifth drive component is provided on the fifth frame, a sixth frame is provided on the fifth drive component and is slidable thereon, and the sixth frame is provided with the second clamping part.

[0019] Secondly, this application proposes a method for detecting the cable life of a robot, which is accomplished using the aforementioned robot cable life detection device, and includes the following steps:

[0020] S101. For each installation position of the cable under test at the joint under test of the robot, find the corresponding reference point of the three-dimensional model in SolidWorks and measure it respectively to obtain the measurement dimension corresponding to each installation position.

[0021] S102. Adjust the positions of the first clamping part and the second clamping part according to the measurement dimensions corresponding to each installation position, so that the first clamping part and the second clamping part reach the corresponding installation position of the cable on the joint to be tested of the robot.

[0022] S103. Connect the initial end of the cable under test to the detection mechanism, and control the rotation speed and angle of the swing component according to the actual working conditions of the cable under test to simulate the movement of the joint under test.

[0023] S104. The resistance value of the cable under test is measured in real time by the detection mechanism to obtain the test resistance value that changes with the number of cycles; a reference DC resistance value is obtained to obtain the resistance change rate; the reference DC resistance value is the DC resistance value of the cable under test in its natural state.

[0024] Compared with the prior art, the advantages of this application are as follows: This application adjusts the first clamping part through the first adjustment component, so that the clamping point of the first clamping part holding the cable under test is moved to the fixed clamping point position under the actual working conditions of the robot. The second clamping part is adjusted by the second adjustment component to move to the position of the moving end of the cable under test on the swing arm structure of the robot, simulating the actual installation mode of the cable at the joint of different types of industrial robots. Then, the swing component simulates the actual movement mode of the robot swing arm structure. The detection mechanism tests the change of resistance of the cable under test with the movement of the swing component in real time, thereby obtaining the resistance change rate of the cable under test under actual working conditions, providing correct guidance for predicting the mechanical life of the cable. The cable life detection results obtained by this detection device are accurate and reliable, and the structure is simple, easy to measure, and low in cost. Attached Figure Description

[0025] Figure 1 A schematic diagram of the structure of the cable life detection device for a robot (when the swing component is static) provided in the embodiments of this application;

[0026] Figure 2 A schematic diagram of the structure of the first mechanism provided in the embodiments of this application;

[0027] Figure 3 A schematic diagram of the structure of the cable life detection device for a robot (when the swinging component swings) provided in the embodiments of this application;

[0028] Figure 4 A schematic diagram of the reference point for the installation position of the cable under test on the second joint of the Estun ER12-1510 industrial robot provided for an embodiment of this application;

[0029] Figure 5 A schematic diagram of the reference point for the cable installation position of the third joint of the Estun ER12-1510 industrial robot provided for the embodiments of this application.

[0030] The text labels in the image represent:

[0031] 1. Testing table; 2. Fifth drive assembly; 3. Sixth drive assembly; 4. Second clamping part; 5. Position control motor; 6. Second reducer; 7. Second turntable; 8. Seventh drive assembly; 9. Eighth drive assembly; 10. Third clamping part; 11. Support base; 12. First drive assembly; 13. Joint drive motor; 14. First frame; 15. Second drive assembly; 16. Third drive assembly; 17. Fourth drive assembly; 18. First clamping part; 19. Testing mechanism; 20. Cable under test; 21. First reducer; 22. Support frame; 23. First turntable. Detailed Implementation

[0032] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] As mentioned in the background section, this application proposes a cable life detection device for robots to address the problems in the prior art. Please refer to [link / reference]. Figure 1 As shown, it includes:

[0035] The first mechanism includes a first adjusting component and a swinging component. The first adjusting component is provided with a first clamping part 18. The first adjusting component is used to adjust the first clamping part 18 to move along a first direction, a second direction, and a third direction. The swinging component is used to drive the first adjusting component to rotate, and the direction of the rotation axis is the first direction.

[0036] The second adjustment component is provided with a second clamping part 4, and the second adjustment component is used to adjust the movement of the second clamping part 4 along the second direction and the third direction; the first direction, the second direction, and the third direction are perpendicular to each other.

[0037] The first clamping part 18 and the second clamping part 4 are respectively used to clamp the cable 20 to be tested at different positions;

[0038] The detection mechanism 19 is electrically connected to the cable under test 20 and is used to detect the rate of change of resistance of the cable under test 20.

[0039] Specifically, the testing mechanism 19 is located on the ground, and a testing platform 1 is provided on one side of the testing mechanism 19. The first mechanism and the second adjustment component are both arranged sequentially on the testing platform 1 along the second direction. The third direction is perpendicular to the platform surface of the testing platform 1 (the height direction of the testing platform 1). The first direction is the width direction of the testing platform 1, and the second direction is the length direction of the testing platform 1.

[0040] In an optional embodiment, the device further includes:

[0041] A third adjustment component is disposed between the first mechanism and the second adjustment component. The third adjustment component is provided with a third clamping part 10. The third adjustment component is used to adjust the movement of the third clamping part 10 along the first direction and the third direction. The third clamping part 10 is used to clamp the cable under test 20. The clamping position of the third clamping part is different from that of the first clamping part 18 and the second clamping part 4 on the cable under test 20.

[0042] Specifically, the cables at the robot joints may have two or three fixed positions. The above embodiment proposed an implementation with two fixed positions, while this embodiment proposes another implementation with three fixed positions, that is, a third adjustment component is detachably provided between the first mechanism and the second adjustment component. This embodiment can improve the applicability of the detection device.

[0043] Furthermore, the first clamping part 18 and the third clamping part 10 are used to simulate the fixed clamping point of the cable under test 20 at the joint front end of the industrial robot, and the second clamping part 4 simulates the fixed clamping point of the moving end of the cable under test 20 on the swing arm structure of the robot. After adjusting the first adjustment component, the second adjustment component and the third adjustment component to move the three clamping parts to the fixed clamping point of the cable under test 20 in the actual working condition of a certain model of industrial robot, the swing component drives the first adjustment component to rotate around the rotation axis in the first direction to simulate the actual movement mode of the joint of the industrial robot. At this time, the detection mechanism 19 detects the change in resistance of the cable under test 20 as the swing component swings.

[0044] In an optional embodiment, the first adjustment component includes a first drive component 12 and a first frame 14 slidably connected to the first drive component 12, wherein the sliding direction of the first frame 14 is the second direction.

[0045] In an optional embodiment, the first drive assembly 12 includes a first lead screw and a first slider that slides on the first lead screw. The first slider is connected to the first frame 14 on one side along the first direction, and the first slider is provided with the swing assembly on one side along the third direction. The swing assembly is used to drive the first frame 14 to rotate.

[0046] Specifically, the adjustment components in this application all consist of a drive component and a frame. The drive component is a lead screw and slider structure, and the drive power source is an independently configured motor located at one end of the lead screw. The motor drives the slider and causes the frame to slide on the slide rail corresponding to the lead screw and slider structure, so as to control the clamping part to find the corresponding clamping position. Specifically, in this application, the first direction is the Y-axis direction, the second direction is the X-axis direction, and the third direction is the Z-axis direction.

[0047] Furthermore, the extension direction of the first lead screw is the first direction, and the motor of the first adjustment component drives the first slider to move the first frame 14 on the first lead screw to adjust the distance of the swing center D point of the first adjustment component on the X-axis.

[0048] In an optional embodiment, the first frame 14 is provided with a second drive assembly 15, and the second drive assembly 15 is provided with a second frame slidably connected thereto, the sliding direction of the second frame being the third direction.

[0049] Specifically, the second drive assembly 15 includes a second lead screw and a second slider that slides on the second lead screw. The second slider is connected to the second frame on one side along the first direction. The motor of the second drive assembly 15 drives the second slider to move the second frame to slide on the second lead screw, thereby adjusting the distance of the clamping point C of the first clamping part 18 on the Z-axis.

[0050] In an optional embodiment, the extension direction of the second frame is the second direction, the second frame is provided with a third drive assembly 16, the third drive assembly 16 is provided with a third frame slidably connected thereto, the sliding direction of the third frame is the second direction, the third frame is provided with a fourth drive assembly 17, the fourth drive assembly 17 includes a fourth lead screw and a fourth slider that slides on the fourth lead screw, the fourth slider and a first clamp provided thereon together form the first clamping part 18.

[0051] Specifically, the third drive assembly 16 includes a third lead screw and a third slider that slides on the third lead screw. The third slider is connected to the third frame on one side along the first direction. The motor of the third drive assembly 16 drives the third slider to move the third frame to slide on the third lead screw, thereby adjusting the distance of the clamping point C of the first clamping part 18 on the X-axis. The motor of the fourth drive assembly 17 drives the fourth slider to move the first clamp to slide on the fourth lead screw, thereby adjusting the distance of the clamping point C of the first clamping part 18 on the Y-axis.

[0052] In an optional embodiment, the second adjustment component includes a fifth frame on which a fifth drive component 2 is provided, and a sixth frame on which the fifth drive component 2 is slidable, and the sixth frame is provided with the second clamping part 4.

[0053] Specifically, the fifth drive assembly 2 includes a fifth lead screw and a fifth slider that slides on the fifth lead screw. The fifth slider is connected to the sixth frame on one side along the second direction. The motor of the fifth drive assembly 2 drives the fifth slider to move the sixth frame on the fifth lead screw, thereby adjusting the distance of the clamping point A of the second clamping part 4 on the X-axis. The sixth frame is provided with a sixth drive assembly 3, which includes a sixth lead screw and a sixth slider that slides on the sixth lead screw. The sixth slider is provided with a second clamp on one side along the second direction. The sixth slider and the second clamp together form the second clamping part 4. The motor of the sixth drive assembly 3 drives the sixth slider and the second clamp to slide on the sixth lead screw, thereby adjusting the distance of the clamping point A of the second clamping part 4 on the Z-axis.

[0054] In an optional embodiment, the detection device is mounted on a detection table 1, which is provided with a support base 11; the support base 11 is provided with the first drive assembly 12 on the side away from the detection table 1; the swing assembly includes a joint drive motor 13, a first reducer 21, and a first turntable 23 connected to the output end of the first reducer 21, which are distributed sequentially along the first direction, and the first turntable 23 extends out of the support base 11 and is connected to the first frame 14.

[0055] For details, please refer to Figure 3 As shown, the support base 11 is a cuboid support block, the joint drive motor 13 provides the power source, and the first reducer 21 controls the rotation speed. Please refer to [reference needed]. Figure 2 As shown, the output end of the first reducer 21 is connected to a support frame 22, and the first turntable 23 is connected to the support frame 22. The joint drive motor 13 drives the first turntable 23 to rotate at a corresponding speed and angle to simulate the actual movement of the joint of an industrial robot. The first turntable 23 extends out of the support seat 11 along the first direction, which can provide clearance space for the rotation of the first adjustment component, so that the first adjustment component can swing on one side of the support seat 11.

[0056] In an optional embodiment, the third adjustment component includes at least a position control motor 5 and a second reducer 6 disposed on the back of the testing platform 1 and arranged sequentially along the third direction; the output end of the second reducer 6 is connected to a second turntable 7 disposed on the front of the testing platform 1, and a fourth frame is connected to the second turntable 7.

[0057] Specifically, the third adjustment component further includes a seventh drive component 8 disposed on the fourth frame. The seventh drive component 8 includes a seventh lead screw and a seventh slider that slides on the seventh lead screw. The seventh slider has a seventh frame disposed on one side along the third direction. The seventh slider drives the seventh frame to slide on the seventh lead screw to adjust the distance of the clamping point B of the third clamping part 10 in the Y-axis direction. An eighth drive component 9 is disposed on the seventh frame. The eighth drive component 9 includes an eighth lead screw and an eighth slider that slides on the eighth lead screw. A third clamp is disposed on the eighth slider. The eighth slider and the third clamp together form the third clamping part 10. The eighth drive component 9 is used to adjust the distance of the clamping point B of the third clamping part 10 in the Z-axis direction. The position control motor 5 is used to provide a power source for the rotation of the fourth frame. The output end of the second reducer 6 is connected to a second turntable 7 disposed on the front of the detection table 1 to adjust the angle θ between the third clamping part 10 and the X-axis.

[0058] Example 2

[0059] Based on Example 1, this example proposes a method for detecting the cable life of a robot, which is performed using the cable life detection device for the robot described in Example 1, and includes the following steps:

[0060] S101. For each installation position of the cable under test 20 on the robot's joint under test, find the corresponding reference point of the three-dimensional model in SolidWorks and measure it respectively to obtain the measurement dimension corresponding to each installation position.

[0061] Please refer to Figure 4 or Figure 5 The image shows the reference points for the installation position of the cable under test at the second joint and the third joint of the Estun ER12-1510 industrial robot. This means that when testing the cable under test at the second joint, the reference points should be set according to... Figure 4 The positions of each point are controlled to determine the position of each clamping part. Figure 4 A', B', C', and D' correspond to the clamping positions A, B, C, and D of the detection device in this application. If it is necessary to detect the cable under test at the third joint, then... Figure 5 The positions of each point are controlled to determine the position of each clamping part. Figure 5 The letters A, C, and D correspond to the clamping positions A, C, and D of the detection device in this application.

[0062] S102. Adjust the positions of the first clamping part 18 and the second clamping part 4 according to the measurement dimensions corresponding to each installation position, so that the first clamping part 18 and the second clamping part 4 reach the corresponding installation position of the cable on the joint to be tested of the robot.

[0063] Specifically, when there are two clamping points, the clamping positions of the first clamping part 18 and the second clamping part 4 need to be adjusted. When there are three clamping points, the clamping position of the third clamping part 10 also needs to be adjusted. This embodiment takes the adjustment position of the cable 20 under test with three conditions as an example and explains the specific adjustment steps:

[0064] First, adjust the position of the third clamping part 10: control the position control motor 5 to rotate the second turntable 7, adjust the angle θ between the third clamping part 10 and the X-axis, then control the seventh drive assembly 8 to drive the seventh frame to move, control the eighth drive assembly 9 to drive the third clamping part 10 to move, adjust the distance y1 between point B on the third clamping part 10 and point A of the second clamping part 4 along the Y direction, control the eighth drive assembly 9 to drive the eighth slider and the third clamp to move, and adjust the distance z1 between point B of the third clamping part 10 and the swing center D along the Z direction.

[0065] Adjust the position of the second clamping part 4: By controlling the motor of the fifth driving component 2 to drive the fifth slider to move the sixth frame, adjust the distance x1 between point A of the second clamping part 4 and point B of the third clamping part 10 in the X direction. By controlling the motor of the sixth driving component 3 to drive the sixth slider and the second clamp to move, adjust the distance z2 between point A of the second clamping part 4 and point B of the third clamping part 10 in the Z direction.

[0066] Adjusting the position of the first clamping part 18: By controlling the motor of the first driving assembly 12 to drive the first slider to move, the distance x2 between the swing center D point and the B point of the third clamping part 10 along the X direction is adjusted; by controlling the motor of the second driving assembly 15 to drive the second slider to move, the distance z3 between the C point of the first clamping part 18 and the swing center D point along the Z direction is adjusted; by controlling the motor of the third driving assembly 16 to drive the third slider to move, the distance x3 between the C point of the first clamping part 18 and the swing center D point along the X direction is adjusted; by controlling the motor of the fourth driving assembly 17 to drive the fourth slider to move, the distance y2 between the C point of the first clamping part 18 and the B point of the third clamping part 10 along the Y direction is adjusted.

[0067] Thus, the task of ensuring that the first clamping part 18, the second clamping part 4, and the third clamping part 10 all reach the corresponding installation position of the cable on the robot's joint to be tested is completed.

[0068] S103. Connect the initial end of the cable under test 20 to the detection mechanism 19, and control the rotation speed and angle of the swing component according to the actual working conditions of the cable under test 20 to simulate the movement of the joint under test.

[0069] Specifically, the joint drive motor 13 is used to control the rotation speed and angle of the swing assembly to simulate the movement of the joint under test.

[0070] S104. The resistance value of the cable under test 20 is measured in real time by the detection mechanism 19 to obtain the test resistance value that changes with the number of cycles; a reference DC resistance value is obtained to obtain the resistance change rate; the reference DC resistance value is the DC resistance value of the cable under test 20 in its natural state.

[0071] Specifically, two cables 20 to be tested are taken and clamped at the first clamping part 18, the second clamping part 4, and the third clamping part 10. The ends of the two cables 20 are connected, and the initial ends of the two cables 20 are connected to the detection mechanism 19, which is a resistance measuring instrument. Based on the actual working conditions of the cables 20, the rotation speed and angle of the joint drive motor 13 are controlled to simulate the movement of the robot joint. The cables 20 are tested in a conductive state. The resistance measuring instrument measures the resistance value of the cables in real time and transmits the data to the industrial control computer. The resistance can be tested to measure the change in resistance with the number of cycles. The DC resistance value before the test (in its natural state) is compared to obtain the DC resistance change rate. Under normal circumstances, the DC resistance change rate should be less than 2%.

[0072] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A cable life detection device for a robot, characterized in that, include: The first mechanism includes a first adjusting component and a swinging component. The first adjusting component has a first clamping part (18) and is used to adjust the first clamping part (18) to move along a first direction, a second direction, and a third direction. The swinging component is used to drive the first adjusting component to rotate, with the direction of the rotation axis being the first direction. The first adjusting component includes a first driving component (12) and a first frame (14) slidably connected to the first driving component (12), with the sliding direction of the first frame (14) being the second direction. The first frame (14) has a second driving component (15). The second drive assembly (15) is provided with a second frame that is slidably connected thereto, the sliding direction of the second frame is the third direction; the extension direction of the second frame is the second direction, the second frame is provided with a third drive assembly (16), the third drive assembly (16) is provided with a third frame that is slidably connected thereto, the sliding direction of the third frame is the second direction, the third frame is provided with a fourth drive assembly (17), the fourth drive assembly (17) includes a fourth lead screw and a fourth slider that slides on the fourth lead screw, the fourth slider and a first clamp provided thereon together form the first clamping part (18). The second adjustment component is provided with a second clamping part (4). The second adjustment component is used to adjust the movement of the second clamping part (4) along the second direction and the third direction. The first direction, the second direction and the third direction are perpendicular to each other. The second adjustment component includes a fifth frame, on which a fifth drive component (2) is provided. The fifth drive component (2) is provided with a sixth frame that can slide thereon. The sixth frame is provided with the second clamping part (4). The first clamping part (18) and the second clamping part (4) are respectively used to clamp the cable to be tested (20) at different positions; The testing mechanism (19) is electrically connected to the cable under test (20) and is used to detect the rate of change of resistance of the cable under test (20).

2. The cable life detection device for robots according to claim 1, characterized in that: The device also includes: The third adjustment component is disposed between the first mechanism and the second adjustment component. The third adjustment component is provided with a third clamping part (10). The third adjustment component is used to adjust the third clamping part (10) to move along the first direction and the third direction. The third clamping part (10) is used to clamp the cable under test (20). The clamping position of the third clamping part (10) on the cable under test (20) is different from that of the first clamping part (18) and the second clamping part (4).

3. The cable life detection device for robots according to claim 1, characterized in that: The first drive assembly (12) includes a first lead screw and a first slider that slides on the first lead screw. The first frame (14) is connected to one side of the first slider along the first direction. The swing assembly is provided on one side of the first slider along the third direction. The swing assembly is used to drive the first frame (14) to rotate.

4. The cable life detection device for robots according to claim 2, characterized in that: The testing device is set on the testing table (1), and the testing table (1) is provided with a support base (11); the support base (11) is provided with the first drive assembly (12) on the side away from the testing table (1); the swing assembly includes a joint drive motor (13), a first reducer (21) and a first turntable (23) connected to the output end of the first reducer (21) in sequence along the first direction, the first turntable (23) extends out of the support base (11) and is connected to the first frame (14).

5. The cable life detection device for robots according to claim 4, characterized in that: The third adjustment component includes at least a position control motor (5) and a second reducer (6) arranged sequentially along the third direction on the back of the testing platform (1); the output end of the second reducer (6) is connected to a second turntable (7) arranged on the front of the testing platform (1), and a fourth frame is connected to the second turntable (7).

6. A method for detecting cable lifespan, performed using the cable lifespan detection device for a robot as described in any one of claims 1-5, characterized in that, Includes the following steps: S101. For each installation position of the cable under test (20) at the joint under test of the robot, find the corresponding reference point of the three-dimensional model in SolidWorks and measure it respectively to obtain the measurement dimension corresponding to each installation position. S102. According to the measurement dimensions corresponding to each installation position, adjust the positions of the first clamping part (18) and the second clamping part (4) so ​​that the first clamping part (18) and the second clamping part (4) reach the corresponding installation position of the cable in the joint to be tested of the robot. S103. Connect the initial end of the cable to be tested (20) to the detection mechanism (19). Control the rotation speed and angle of the swing component according to the actual working conditions of the cable to be tested (20) to simulate the movement of the joint to be tested. S104. The resistance value of the cable under test (20) is measured in real time by the detection mechanism (19) to obtain the test resistance value that changes with the number of cycles. Obtain the reference DC resistance value to obtain the resistance change rate; the reference DC resistance value is the DC resistance value of the cable under test (20) in its natural state.

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