Robot cable performance detection device

Abstract

The invention provides a robot cable performance detection device which comprises a supporting table, supporting legs are installed at the four corners of the bottom of the supporting table, a supporting disc is installed at one end of the top of the supporting table, a third L-shaped frame is connected to the top of the supporting disc, and a first L-shaped frame is connected to one side of the top of the third L-shaped frame. A first mounting cavity is formed between the top of the first L-shaped frame and the top of the third L-shaped frame, a first rotating seat is arranged in the first mounting cavity, the two sides of the first rotating seat are connected with first rotating shafts arranged on the side faces of the first L-shaped frame and the third L-shaped frame in a penetrating mode, and the first rotating shafts are connected with the first L-shaped frame and the third L-shaped frame through bearings respectively. When the mechanical arm is used, the second connecting plate and the first connecting plate move to better simulate the moving state of the mechanical arm, when the two connecting plates rotate, a cable located at the joint is extruded and deformed, and the stress position and the deformation position of the cable can be better observed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cable performance detection, in particular to a robot cable performance detection device. BACKGROUND

[0002] With the development of science and technology, robots are more and more widely used. In the use process of the robot arm, a cable needs to be installed on the robot arm. When a six-axis robot arm repeatedly reciprocates, the cable at the joint is always in motion, so that the cable at the joint is easily squeezed and has a common phenomenon of strain. Therefore, in order to test the durability of the cable, the overload condition and the tensile condition of the cable are usually measured, and the actual situation of keeping consistent with the motion state of the robot arm is ignored. Therefore, the present application provides a robot cable performance detection device. SUMMARY

[0003] In order to solve the above problems of the prior art, the present application provides a robot cable performance detection device.

[0004] The technical scheme of the present application is as follows:

[0005] A robot cable performance detection device is designed, which comprises a support table, support legs are installed at the bottom of the support table, a support disc is installed at one end of the top of the support table, a third L-shaped frame is connected to the top of the support disc, a first L-shaped frame is connected to one side of the top of the third L-shaped frame, a first installation cavity is formed between the top of the first L-shaped frame and the third L-shaped frame, a first rotating seat is arranged in the first installation cavity, first rotating shafts are connected to the two sides of the first rotating seat and are arranged through the side surfaces of the first L-shaped frame and the third L-shaped frame, the first rotating shafts are connected to the first L-shaped frame and the third L-shaped frame through bearings, a first driving motor is installed on one side of the first L-shaped frame, and the first driving motor is connected to the first rotating shaft.

[0006] A first connecting plate is vertically installed on one side of the top of the first rotating seat, a second L-shaped frame is connected to one side of the top of the first connecting plate, a second installation cavity is formed between the top of the second L-shaped frame and the first connecting plate, a second rotating seat is arranged in the second installation cavity, second rotating shafts are connected to the two sides of the second rotating seat and are arranged through the side surfaces of the second L-shaped frame and the first connecting plate, the second rotating shafts are fixedly installed to the second L-shaped frame and the first connecting plate through bearings, a second driving motor is installed on one side of the second L-shaped frame, and the second driving motor is connected to the second rotating shaft.

[0007] A second connecting plate is vertically installed on one side of the top of the second rotating seat, two rows of symmetrical line clamps are arranged on the side surfaces of the second connecting plate, the first connecting plate and the third L-shaped frame, the number of line clamps in each row is at least one, the line clamps are used for fixing cables, the cables are installed in the same row of line clamps, and then are bent and fixed in the line clamps on the other side from the end of the second connecting plate.

[0008] Preferably, the line card comprises a first strip-shaped plate and a second strip-shaped plate, the second strip-shaped plate is fixed on the side of the second connecting plate, the first connecting plate and the third L-shaped frame, a locking screw is vertically installed on the end surface of the two rows of second strip-shaped plates close to each other, one end of the first strip-shaped plate penetrates through the locking screw, and a locking seat is threadedly connected on the locking screw;

[0009] Preferably, one end of the first strip-shaped plate extends to the outside of the second strip-shaped plate, a supporting rod is vertically installed on one end of the second strip-shaped plate, the supporting rod penetrates through the side of the second connecting plate, the first connecting plate and the third L-shaped frame, a clamping seat is installed on the inside of the end of the first strip-shaped plate and the second strip-shaped plate away from each other, a clamping groove is formed in the clamping seat, and the cable is arranged in the clamping groove.

[0010] Preferably, the first driving motor and the second driving motor are brake motors.

[0011] Preferably, two pressing mechanisms are symmetrically installed on the supporting table on one side of the third L-shaped frame, the pressing mechanism comprises two oppositely arranged first L-shaped seats, the bottom of the first L-shaped seat is fixed on the supporting table, a first driving hydraulic cylinder is vertically installed on the top of the first L-shaped seat, a second pressing seat is installed on the bottom of the first driving hydraulic cylinder, a first pressing seat is arranged below the second pressing seat, the first pressing seat is fixedly installed on the supporting table, an arc-shaped groove is formed on the opposite surfaces of the second pressing seat and the first pressing seat, and the two free ends of the cable are arranged in the arc-shaped groove between the second pressing seat and the first pressing seat.

[0012] Preferably, a rectangular opening is formed in the supporting table away from one side of the third L-shaped frame, two symmetrically arranged pulling devices are arranged in the rectangular opening, and the two pulling devices are correspondingly arranged with the two pressing mechanisms respectively.

[0013] The pulling device comprises a fourth pressing seat, the fourth pressing seat is located above the supporting table, the fourth pressing seat is in the shape of a rectangular plate, a guide sleeve is connected to the two sides of the fourth pressing seat, a first guide rod is inserted into each guide sleeve, a first connecting seat is connected to one end of the first guide rod close to the first L-shaped seat, the bottom of the first connecting seat is fixed on the edge of the rectangular opening, the other end of the first guide rod is connected to a second clamping seat, and the second clamping seat is installed on the other side edge of the rectangular opening.

[0014] The top of the two fourth pressing seats close to each other is provided with a second L-shaped seat, the two second L-shaped seats are oppositely arranged, a second driving hydraulic cylinder is vertically installed on the top of each second L-shaped seat, a third pressing seat is installed on the bottom of the second driving hydraulic cylinder, the third pressing seat is located directly above the fourth pressing seat, an arc-shaped groove is formed on the opposite surfaces of the third pressing seat and the fourth pressing seat, and the cable is arranged in the arc-shaped groove.

[0015] The bottom of the fourth pressing seat is vertically provided with a support plate on both sides, the support plate extends from the rectangular opening to below the support table, the bottom of the support plate is vertically fixed on the moving seat, two second guide rods are arranged at both ends of each moving seat, one end of the second guide rod close to the first L-shaped seat is connected with a second connecting seat, the top of the second connecting seat is fixedly connected to the bottom of the support table, a push hydraulic cylinder is connected to the middle of the side of each moving seat, an oil cylinder seat is connected to the end of the push hydraulic cylinder away from the moving seat, the top of the oil cylinder seat is fixedly connected to the bottom of the support table, the other end of the second guide rod is connected to a strip-shaped mounting seat, and the strip-shaped mounting seat is mounted to the bottom of the support table below the second clamping seat.

[0016] The side of the moving seat away from the push hydraulic cylinder is provided with an L-shaped fixing seat, the bottom of the L-shaped fixing seat is fixedly connected to the mounting plate, the bottom of the mounting plate is provided with two guide seats, two third guide rods are symmetrically arranged in each guide seat, the two ends of the third guide rod are fixedly connected to a U-shaped frame, and the top of the U-shaped frame is fixedly connected to the bottom of the support table.

[0017] The middle position of the guide seat away from the moving seat is vertically provided with a guide support shaft, the other end of the guide support shaft is arranged in the U-shaped frame away from the push hydraulic cylinder, and a support spring is arranged on the guide support shaft.

[0018] A pressure sensor is mounted on the side of the L-shaped fixing seat, and the detection head of the pressure sensor is in contact with the side of the moving seat.

[0019] Preferably, the top of one end of the third pressing seat is vertically provided with a second guide shaft, and the top of the second guide shaft penetrates the second L-shaped seat.

[0020] Preferably, the top of one end of the second pressing seat is vertically provided with a first guide shaft, and the top of the first guide shaft penetrates the first L-shaped seat.

[0021] Preferably, two placing grooves are symmetrically formed in the top of the second clamping seat, the cable is arranged in the placing groove, a first clamping seat is hingedly connected to one end of the top of the second clamping seat, and the other end of the first clamping seat is connected to the second clamping seat through a lock buckle.

[0022] Preferably, a current sensor is mounted at the end of the support table, the current sensor is connected in series on the cable, a baffle is vertically mounted at one end of the support table, and two counters are mounted on the side of the baffle.

[0023] Compared with the prior art, the second connecting plate and the first connecting plate can better imitate the state of the movement of the mechanical arm in use, the cable at the joint is extruded and deformed when the two connecting plates rotate, the stress and the deformation position of the cable can be better observed, the tensile strength of the cable can be detected through the pulling device, and the operation is simple and the use is convenient. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, illustrate the application, and are used to explain the application, and do not constitute a limitation on the application. In the drawings:

[0025] Figure 1 It is a schematic diagram of the overall structure of the application.

[0026] Figure 2 It is a schematic diagram of the wire card structure of the application.

[0027] Figure 3 It is a schematic diagram of the pulling device structure of the application Figure 1 .

[0028] Figure 4 It is a schematic diagram of the pulling device structure of the application Figure 2 .

[0029] Figure 5 It is a schematic diagram of the overall structure of the pulling device of the application.

[0030] Figure 6 It is a front view of the pulling device of the application.

[0031] In the figure: 1, support table; 2, support disc; 3, first L-shaped frame; 4, first drive motor; 5, first rotating seat; 6, first connecting plate; 7, second L-shaped frame; 8, second drive motor; 9, second rotating seat; 10, second rotating shaft; 11, first rotating shaft; 12, cable; 13, cable clamp; 14, first drive hydraulic cylinder; 15, first L-shaped seat; 16, first clamping seat; 17, placing groove; 18, second clamping seat; 19, current sensor; 20, U-shaped frame; 21, guide support shaft; 22, support plate; 23, rectangular port; 24, third L-shaped frame; 25, support leg; 26, first strip plate; 27, clamping groove; 28, clamping seat; 29, second strip plate; 30, support rod; 31, locking seat; 32, first connecting seat; 33, first pressing seat; 34, first guide shaft; 35, second drive hydraulic cylinder; 36, first guide rod; 37, third pressing seat; 38, second L-shaped seat; 39, second guide rod; 40, fourth pressing seat; 41, pressure sensor; 42, support spring; 43, third guide rod; 44, strip mounting seat; 45, mounting plate; 46, L-shaped fixing seat; 47, guide seat; 48, moving seat; 49, guide sleeve; 50, second connecting seat; 51, oil cylinder seat; 52, pushing hydraulic cylinder; 53, second pressing seat; 54, second guide shaft; 55, second connecting plate; 56, locking screw; 57, baffle; 58, counter. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] Please refer to Figures 1-6 The present application provides a technical solution: a robot cable performance detection device, which comprises a support table 1, support legs 25 are installed at the bottom of four corners of the support table 1, a support disc 2 is installed at one end of the top of the support table 1, the support table 1 and the support disc 2 are fastened through bolts, a third L-shaped frame 24 is connected to the top of the support disc 2, a first L-shaped frame 3 is connected to one side of the top of the third L-shaped frame 24, a first installation cavity is formed between the first L-shaped frame 3 and the third L-shaped frame 24, a first rotating seat 5 is arranged in the first installation cavity, first rotating shafts 11 are connected to both sides of the first rotating seat 5 and are arranged through the side surfaces of the first L-shaped frame 3 and the third L-shaped frame 24, the first rotating shafts 11 are connected to the first L-shaped frame 3 and the third L-shaped frame 24 through bearings respectively, a first drive motor 4 is installed on one side of the first L-shaped frame 3, and the first drive motor 4 is connected to the first rotating shaft 11;

[0034] The top side of the first rotating seat 5 is vertically provided with a first connecting plate 6, and the top side of the first connecting plate 6 is connected with a second L-shaped frame 7, and a second installation cavity is formed between the top of the second L-shaped frame 7 and the first connecting plate 6, and a second rotating seat 9 is arranged in the second installation cavity, and the two sides of the second rotating seat 9 are connected with a second rotating shaft 10 which is arranged through the side of the second L-shaped frame 7 and the first connecting plate 6, and the second rotating shaft 10 is fixedly arranged in the second L-shaped frame 7 and the first connecting plate 6 through a bearing, and a second driving motor 8 is arranged on one side of the second L-shaped frame 7, and the second driving motor 8 is connected with the second rotating shaft 10;

[0035] The top side of the second rotating seat 9 is vertically provided with a second connecting plate 55, and two rows of symmetrical line cards 13 are arranged on the side of the second connecting plate 55, the first connecting plate 6 and the third L-shaped frame 24, and the number of each row of line cards 13 is at least one, and the line card 13 is used for fixing the cable 12, and the cable 12 is arranged in the same row of line cards 13, and then is bent and fixed in the line card 13 on the other side from the end of the second connecting plate 55.

[0036] As shown in Figure 1 , the fixed cable 12 is arranged in the line card 13, and the first driving motor 4 can drive the first connecting plate 6 to rotate, and the second driving motor 8 can drive the second connecting plate 55 to rotate, so that the movement of the second connecting plate 55 and the first connecting plate 6 can better match the movement state of the mechanical arm, and when the two connecting plates rotate, the cable 12 at the joint is extruded and deformed, which can better observe the stress and deformation position of the cable.

[0037] As shown in Figure 2 , the line card 13 includes a first strip plate 26 and a second strip plate 29, the second strip plate 29 is fixed on the side of the second connecting plate 55, the first connecting plate 6 and the third L-shaped frame 24, and a locking screw 56 is vertically arranged on the surface of the end of the two rows of second strip plates 29 close to each other, one end of the first strip plate 26 is arranged through the locking screw 56, and a locking seat 31 is threadedly connected on the locking screw 56, and the locking seat 31 has a tail vertebra structure, which is convenient for an operator to hold by hand.

[0038] Among them, one end of the first strip plate 26 extends to the outside of the second strip plate 29, a supporting rod 30 is vertically arranged on one end of the second strip plate 29, the supporting rod 30 is arranged through the side of the second connecting plate 55, the first connecting plate 6 and the third L-shaped frame 24, a clamping seat 28 is arranged on the inner side of the end of the first strip plate 26 and the second strip plate 29 away from each other, and a clamping groove 27 is formed in the clamping seat 28. As shown in Figure 2As shown, when the cable 12 is placed in the clamping groove 27, each locking seat 31 is tightened so that the cable 12 is clamped in the clamping groove 27 to be fixed, facilitating the disassembly and installation of the cable, and meanwhile, the support rod 30 can move in the second connecting plate 55, the first connecting plate 6 and the third L-shaped frame 24, playing a guiding role and not causing the position of the first strip-shaped plate 26 to be deviated.

[0039] The first driving motor 4 and the second driving motor 8 are brake motors, which can be self-locked when stopping rotating and cannot rotate.

[0040] As shown in the drawings, Figure 1 Two pressing mechanisms are symmetrically installed on the support table 1 on one side of the third L-shaped frame 24, and the pressing mechanism comprises two oppositely arranged first L-shaped seats 15, the bottoms of the first L-shaped seats 15 are fixed on the support table 1, and the tops of the first L-shaped seats 15 are vertically installed with first driving hydraulic cylinders 14. Figure 3 The bottoms of the first driving hydraulic cylinders 14 are installed with second pressing seats 53, and the first pressing seats 33 are arranged below the second pressing seats 53 and are fixed on the support table 1, and arc-shaped grooves are arranged on the opposite surfaces of the second pressing seats 53 and the first pressing seats 33 (as indicated by an arrow A in the drawings). Figure 3 The two free ends of the cable 12 are arranged in the arc-shaped grooves between the second pressing seats 53 and the first pressing seats 33, the first driving hydraulic cylinders 14 drive the second pressing seats 53 to descend to press the cable 12, and the cable 12 is prevented from sliding.

[0041] As shown in the drawings, Figure 1 A rectangular opening 23 is arranged on the support table 1 away from the third L-shaped frame 24 on the side of the first L-shaped seat 15, and two symmetrically arranged pulling devices are arranged in the rectangular opening 23, and the two pulling devices are correspondingly arranged with the two pressing mechanisms.

[0042] As shown in the drawings, Figure 3 and Figure 4 The pulling device comprises a fourth pressing seat 40, the fourth pressing seat 40 is located above the support table 1, the fourth pressing seat 40 is a rectangular plate, guide sleeves 49 are connected to the two sides of the fourth pressing seat 40, first guide rods 36 are inserted into each guide sleeve 49, one end of the first guide rod 36 close to the first L-shaped seat 15 is connected with a first connecting seat 32, the bottom of the first connecting seat 32 is fixed on the edge of the rectangular opening 23, the other end of the first guide rod 36 is connected with a second clamping seat 18, and the second clamping seat 18 is installed on the other edge of the rectangular opening 23, so that the fourth pressing seat 40 can move back and forth along the first guide rod 36.

[0043] Two fourth clamping seats 40 are each fitted with a second L-shaped seat 38 at their top ends, which are close to each other. The two second L-shaped seats 38 are arranged opposite to each other. A second driving hydraulic cylinder 35 is vertically mounted on the top of each second L-shaped seat 38. A third clamping seat 37 is mounted on the bottom of each second driving hydraulic cylinder 35. The third clamping seat 37 is located directly above the fourth clamping seat 40. Arc-shaped grooves are formed on the opposing surfaces of the third clamping seat 37 and the fourth clamping seat 40. The cable 12 is placed in the arc-shaped groove (e.g., ...). Figure 3 (Inside the area indicated by the middle arrow B);

[0044] Support plates 22 are vertically mounted on both sides of the bottom of the fourth clamping seat 40. The support plates 22 extend from the rectangular opening 23 to the bottom of the support platform 1. The bottom of the support plates 22 is vertically fixed to the movable seat 48. A second guide rod 39 is provided through both ends of each movable seat 48. The end of the second guide rod 39 near the first L-shaped seat 15 is connected to a second connecting seat 50. The top of the second connecting seat 50 is fixedly connected to the bottom of the support platform 1. A push hydraulic cylinder 52 is connected to the middle of the side of each movable seat 48. The end of the push hydraulic cylinder 52 away from the movable seat 48 is connected to a cylinder seat 51. The top of the first guide rod is fixedly connected to the bottom of the support platform 1. The other end of the second guide rod 39 is connected to the strip mounting seat 44. The strip mounting seat 44 is installed at the bottom of the support platform 1 below the second clamping seat 18. When the hydraulic cylinder 52 extends, it drives the moving seat 48 to move. The moving seat 48, the support plate 22, the fourth clamping seat 40, and the second L-shaped seat 38 are an integral structure. Therefore, when the second driving hydraulic cylinder 35 drives the third clamping seat 37 to clamp and fix the cable 12, the cable is pulled by the movement of the moving seat 48. As the driving hydraulic cylinder 52 continues to move, the moving seat 48 will eventually break the cable 12.

[0045] like Figure 6 As shown, the movable seat 48 is provided with an L-shaped fixed seat 46 on the side away from the push hydraulic cylinder 52. The bottom of the L-shaped fixed seat 46 is fixedly connected to the mounting plate 45. Two guide seats 47 are installed on the bottom of the mounting plate 45. Two third guide rods 43 are symmetrically provided through each guide seat 47. Both ends of the third guide rods 43 are fixedly connected to the U-shaped frame 20. The top two ends of the U-shaped frame 20 are respectively connected and fixed to the bottom of the support platform 1.

[0046] Among them, a guide support shaft 21 is vertically installed in the middle of a guide seat 47 away from the moving seat 48. The other end of the guide support shaft 21 is installed through a U-shaped frame 20 away from the push hydraulic cylinder 52. A support spring 42 is sleeved on the guide support shaft 21. The two ends of the support spring 42 are respectively connected and fixed to the U-shaped frame 20 and the guide seat 47. The support spring 42 is a high-elasticity spring, so that the support spring 42 still has elasticity after the cable is pulled off.

[0047] A pressure sensor 41 is mounted on the side of the L-shaped fixed base 46. The detection head of the pressure sensor 41 is in contact with the side of the movable base 48. Figure 6 As shown, when the device is stationary, the compressive force between the pressure sensor 41 and the moving seat 48 is zero. When the hydraulic cylinder 52 is pushed to extend, it pulls the cable, which increases the pressure between the pressure sensor 41 and the moving seat 48. As the cable is gradually stretched, the vertical position of the pressure sensor also changes. Finally, the force at which the cable breaks is measured. It should be emphasized that the tensile test of the cable is carried out after the swing test, or the cable can be placed in the clamping seat for the test alone.

[0048] The top of one end of the third clamping seat 37 is vertically mounted with a second guide shaft 54, and the top of the second guide shaft 54 ​​passes through the second L-shaped seat 38.

[0049] The top of one end of the second clamping seat 53 is vertically mounted with a first guide shaft 34, and the top of the first guide shaft 34 passes through the first L-shaped seat 15.

[0050] like Figure 1 As shown, the top of the second clamping seat 18 has two symmetrical placement slots 17, and the cable 12 is placed in the placement slots 17. The first clamping seat 16 is hinged to one end of the top of the second clamping seat 18, and the other end of the first clamping seat 16 is connected to the second clamping seat 18 by a latch.

[0051] Furthermore, a current sensor 19 is installed at the end of the support platform 1. The current sensor 19 is connected in series with the cable 12. The current sensor 19 can also detect the magnitude of the current flowing through the cable. The two ends of the cable can be connected to the power supply to form a circuit. Both the current sensor 19 and the pressure sensor are connected to a computer or controller via a data cable.

[0052] A baffle 57 is vertically installed at one end of the support platform 1. Two counters 58 are installed on the side of the baffle 57. One counter counts the swing of the second connecting plate 55, and the other counter counts the swing of the first connecting plate 6. The counters are either ultrasonic counters or infrared counters. The counters are connected to a computer or controller via a data cable.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot cable performance testing device, comprising a support platform (1), wherein support legs (25) are installed at the four corners of the bottom of the support platform (1), characterized in that, A support plate (2) is installed at one end of the top of the support platform (1). A third L-shaped frame (24) is connected to the top of the support plate (2). A first L-shaped frame (3) is connected to one side of the top of the third L-shaped frame (24). A first mounting cavity is formed between the tops of the first L-shaped frame (3) and the third L-shaped frame (24). A first rotating seat (5) is provided in the first mounting cavity. A first rotating shaft (11) is connected to both sides of the first rotating seat (5) and passes through the sides of the first L-shaped frame (3) and the third L-shaped frame (24). The first rotating shaft (11) is connected to the first L-shaped frame (3) and the third L-shaped frame (24) respectively by bearings. A first drive motor (4) is installed on one side of the first L-shaped frame (3). The first drive motor (4) is connected to the first rotating shaft (11). A first connecting plate (6) is vertically installed on one side of the top of the first rotating seat (5). A second L-shaped frame (7) is connected to one side of the top of the first connecting plate (6). A second mounting cavity is formed between the top of the second L-shaped frame (7) and the first connecting plate (6). A second rotating seat (9) is provided in the second mounting cavity. A second rotating shaft (10) is connected to both sides of the second rotating seat (9) and passes through the sides of the second L-shaped frame (7) and the first connecting plate (6). The second rotating shaft (10) is fixed to the second L-shaped frame (7) and the first connecting plate (6) by bearings. A second drive motor (8) is installed on one side of the second L-shaped frame (7). The second drive motor (8) is connected to the second rotating shaft (10). A second connecting plate (55) is vertically installed on one side of the top of the second rotating seat (9). Two rows of symmetrically arranged wire clips (13) are provided on the sides of the second connecting plate (55), the first connecting plate (6) and the third L-shaped frame (24). There is at least one wire clip (13) in each row. The wire clip (13) is used to fix the cable (12). The cable (12) is installed in the same row of wire clips (13) and then bent from the end of the second connecting plate (55) and fixed in the wire clip (13) on the other side.

2. The robot cable performance testing device according to claim 1, characterized in that, The wire clip (13) includes a first strip plate (26) and a second strip plate (29). The second strip plate (29) is fixed on the side of the second connecting plate (55), the first connecting plate (6) and the third L-shaped frame (24). Locking screws (56) are vertically installed on the surfaces of the two rows of second strip plates (29) that are close to each other. One end of the first strip plate (26) is inserted through the locking screw (56). A locking seat (31) is threaded onto the locking screw (56). One end of the first strip plate (26) extends to the outside of the second strip plate (29). A support rod (30) is vertically installed at one end of the second strip plate (29). The support rod (30) passes through the side of the second connecting plate (55), the first connecting plate (6), and the third L-shaped frame (24). A clamping seat (28) is installed on the inner side of the ends of the first strip plate (26) and the second strip plate (29) that are far apart from each other. A slot (27) is opened on the clamping seat (28), and the cable (12) is placed in the slot (27).

3. The robot cable performance testing device according to claim 1, characterized in that, The first drive motor (4) and the second drive motor (8) are brake motors.

4. The robot cable performance testing device according to claim 1, characterized in that, Two clamping mechanisms are symmetrically installed on the support platform (1) on one side of the third L-shaped frame (24). The clamping mechanism includes two first L-shaped seats (15) arranged opposite to each other. The bottom of the first L-shaped seats (15) is fixed on the support platform (1). The top of the first L-shaped seats (15) is vertically installed with a first driving hydraulic cylinder (14). The bottom of the first driving hydraulic cylinder (14) is installed with a second clamping seat (53). A first clamping seat (33) is provided below the second clamping seat (53). The first clamping seat (33) is fixedly installed on the support platform (1). An arc groove is opened on the opposite surface of the second clamping seat (53) and the first clamping seat (33). The two free ends of the cable (12) are placed in the arc groove between the second clamping seat (53) and the first clamping seat (33).

5. The robot cable performance testing device according to claim 4, characterized in that, A rectangular opening (23) is provided on the support platform (1) on the side of the first L-shaped seat (15) away from the third L-shaped frame (24). Two symmetrically arranged pulling devices are provided in the rectangular opening (23), and the two pulling devices are respectively arranged in correspondence with two clamping mechanisms. All pulling devices include a fourth clamping seat (40), which is located above the support platform (1). The fourth clamping seat (40) is rectangular plate-shaped. Guide sleeves (49) are connected to both sides of the fourth clamping seat (40). A first guide rod (36) is inserted into each guide sleeve (49). A first connecting seat (32) is connected to one end of the first guide rod (36) near the first L-shaped seat (15). The bottom of the first connecting seat (32) is fixed to the edge of the rectangular opening (23). The other end of the first guide rod (36) is connected to the second clamping seat (18). The second clamping seat (18) is installed on the other side edge of the rectangular opening (23). Two fourth clamping seats (40) are each equipped with a second L-shaped seat (38) at the top of their respective ends. The two second L-shaped seats (38) are arranged opposite to each other. A second driving hydraulic cylinder (35) is vertically installed on the top of each second L-shaped seat (38). A third clamping seat (37) is installed on the bottom of each second driving hydraulic cylinder (35). The third clamping seat (37) is located directly above the fourth clamping seat (40). Arc-shaped grooves are provided on the opposite surfaces of the third clamping seat (37) and the fourth clamping seat (40). The cable (12) is placed in the arc-shaped groove. The bottom sides of the fourth clamping seat (40) are vertically mounted with support plates (22). The support plates (22) extend from the rectangular opening (23) to the bottom of the support platform (1). The bottom of the support plates (22) is vertically fixed on the movable seat (48). A second guide rod (39) is provided through both ends of each movable seat (48). The end of the second guide rod (39) near the first L-shaped seat (15) is connected to a second connecting seat (50). The top of the second connecting seat (50) is... Fixedly connected to the bottom of the support platform (1), a push hydraulic cylinder (52) is connected to the middle of the side of each movable seat (48). The end of the push hydraulic cylinder (52) away from the movable seat (48) is connected to a cylinder seat (51). The top of the cylinder seat (51) is fixedly connected to the bottom of the support platform (1). The other end of the second guide rod (39) is connected to the strip mounting seat (44). The strip mounting seat (44) is installed at the bottom of the support platform (1) below the second clamping seat (18). The movable seat (48) is provided with an L-shaped fixed seat (46) on the side away from the push hydraulic cylinder (52). The bottom of the L-shaped fixed seat (46) is fixedly connected to the mounting plate (45). Two guide seats (47) are installed at the bottom of the mounting plate (45). Two third guide rods (43) are symmetrically provided through each guide seat (47). Both ends of the third guide rods (43) are fixedly connected to the U-shaped frame (20). The top two ends of the U-shaped frame (20) are respectively connected and fixed to the bottom of the support platform (1). Among them, a guide support shaft (21) is vertically installed in the middle of a guide seat (47) away from the moving seat (48). The other end of the guide support shaft (21) is installed on a U-shaped frame (20) away from the push hydraulic cylinder (52). A support spring (42) is sleeved on the guide support shaft (21). The two ends of the support spring (42) are respectively connected and fixed to the U-shaped frame (20) and the guide seat (47). A pressure sensor (41) is installed on the side of the L-shaped fixed base (46), and the detection head of the pressure sensor (41) is in contact with the side of the movable base (48).

6. The robot cable performance testing device according to claim 5, characterized in that, The top of one end of the third clamping seat (37) is vertically mounted with a second guide shaft (54), and the top of the second guide shaft (54) passes through the second L-shaped seat (38).

7. The robot cable performance testing device according to claim 4, characterized in that, The top of one end of the second clamping seat (53) is vertically mounted with a first guide shaft (34), and the top of the first guide shaft (34) passes through the first L-shaped seat (15).

8. The robot cable performance testing device according to claim 5, characterized in that, The top of the second clamping seat (18) has two symmetrical placement slots (17), and the cable (12) is placed in the placement slots (17). The first clamping seat (16) is hinged to one end of the top of the second clamping seat (18), and the other end of the first clamping seat (16) is connected to the second clamping seat (18) by a latch.

9. The robot cable performance testing device according to claim 1, characterized in that, A current sensor (19) is installed at the end of the support platform (1). The current sensor (19) is connected in series with the cable (12). A baffle (57) is vertically installed at one end of the support platform (1). Two counters (58) are installed on the side of the baffle (57).

Images