High-flexibility drag chain cable performance testing device for robots

Abstract

This invention provides a performance testing device for highly flexible drag chain cables used in robots, comprising a base plate, a linear module, a second slider, and a self-weight pull-back assembly. The base plate is used to place and fix one end of the drag chain and cable. A first slider is slidably connected to the top of the linear module to fix the other end of the drag chain and cable, forming a rotating structure for the drag chain. The second slider is slidably connected to the linear module along its direction, and an inverted U-shaped plate is provided on it to support the side and inner side of the upper half of the inverted U-shaped bend of the drag chain. The self-weight pull-back assembly includes a flexible traction component and a counterweight component, which apply a pull-back force along the direction to the second slider. The highly flexible drag chain cable performance testing device for robots provided by this invention can dynamically support the U-shaped bend of the drag chain by driving the inverted U-shaped plate through the self-weight pull-back assembly, effectively suppressing its sagging and swaying, ensuring the stability of the bending state, thereby significantly improving the accuracy and consistency of drag chain cable performance testing.

Description

Technical Field

[0001] This invention belongs to the field of testing equipment technology, and more specifically, relates to a performance testing device for highly flexible drag chain cables for robots. Background Technology

[0002] Robotic equipment typically involves frequent starts and stops, reciprocating movements, and multi-posture operation during operation, requiring its highly flexible cable carrier cables to undergo bending and stretching over extended periods. To verify the bending resistance and service life of such cables under dynamic operating conditions, it is usually necessary to use testing devices to simulate the reciprocating motion of the cable carrier, subjecting the cable to repeated bending fatigue within the carrier.

[0003] Existing testing devices mostly use a linear drive mechanism to move one end of the cable chain back and forth, while the other end is fixed, thus forming a U-shaped bending structure similar to that in actual use. During testing, the inverted U-shaped bend of the cable chain continuously changes position as the moving end moves. Due to the weight of the cable chain and its internal cables, especially when the test stroke is long, the movement frequency is high, or the number of cables is large, the inverted U-shaped bend is prone to sagging, swaying, or partial collapse, making the bending state of the cable chain unstable during reciprocating motion.

[0004] The aforementioned sagging deformation can cause differences in the bending position and stress state of the cable during each test, thus affecting the accuracy and consistency of the drag chain cable performance test results. Summary of the Invention

[0005] This invention provides a performance testing device for highly flexible drag chain cables for robots. It can drive an inverted U-shaped plate through a self-weight pull-back assembly to dynamically support the inverted U-shaped bend of the drag chain, effectively suppressing its sagging and swaying, ensuring stable bending state, and thus significantly improving the accuracy and consistency of drag chain cable performance testing.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A performance testing device for a highly flexible drag chain cable for robots is provided, comprising a base plate, a linear module, a second slider, and a self-weight pull-back assembly. The base plate is used to place the drag chain and the cable passing through the drag chain, and to fix one end of the drag chain and the cable. The linear module is horizontally arranged, and a first slider is slidably connected to the top of the linear module. The first slider is used to fix the other end of the drag chain and the cable, and the drag chain and the cable form a U-shaped structure with the opening facing one side. The second slider is slidably connected to the linear module along its direction. An inverted U-shaped plate is provided on the second slider, which is located inside the inverted U-shaped bend of the drag chain and corresponds to the side and upper half of the inverted U-shaped bend. The self-weight pull-back assembly is disposed on the linear module and includes a flexible traction member and a counterweight. One end of the flexible traction member is connected to the second slider, and the other end of the flexible traction member is connected to the counterweight. The counterweight applies a pull-back force along the direction of the linear module to the second slider through the flexible traction member.

[0007] In one possible implementation, the self-weight pull-back assembly further includes a guide wheel assembly, which is rotatably connected to the linear module. A flexible traction member is wound around the guide wheel assembly. The guide wheel assembly includes an upper guide wheel and a lower guide wheel. The upper guide wheel is located above the lower guide wheel and on the side of the lower guide wheel away from the first slider. The flexible traction member passes around the lower guide wheel and the upper guide wheel in succession and then connects to the second slider and the counterweight respectively.

[0008] In one possible implementation, a rodless cylinder extending in the vertical direction is provided on the second slider, and an inverted U-shaped plate is provided on the sliding piston of the rodless cylinder.

[0009] In one possible implementation, a telescopic component is provided at the bottom of the linear module, with the fixed end of the telescopic component supported on the ground and the telescopic end of the telescopic component connected to the linear module.

[0010] In one possible implementation, the top of the first slider is provided with a flat plate extending horizontally toward the side above the base plate, and the upper end of the drag chain is fastened to the top of the flat plate; the top of the flat plate is provided with a first mounting bracket, and a first fixing member is threadedly connected to the first mounting bracket, the lower end of the first fixing member abutting against the upper end of the drag chain.

[0011] In some embodiments, a rotating gripper is provided on the bottom surface of the plate, the gripping end of the rotating gripper gripping the upper end of the cable, and the rotation axis of the rotating gripper is arranged along the length direction of the upper end of the cable.

[0012] In one possible implementation, a second mounting bracket is provided on the top of the base plate, and a second fixing member and a third fixing member are threadedly connected to the second mounting bracket. The lower end of the second fixing member presses against the lower end of the cable carrier, and the lower end of the third fixing member presses against the lower end of the cable.

[0013] In one possible implementation, a horizontal through hole is provided on the inverted U-shaped plate, with the through hole facing the side of the inverted U-shaped bend; a striking assembly is provided on the side of the inverted U-shaped plate away from the cable chain, the striking assembly including a cylinder, a striking rod and a striking head, the opening of the cylinder facing the through hole, the striking rod being slidably connected to the cylinder, and the striking head being connected to the end of the striking rod facing the through hole.

[0014] In some embodiments, the end of the striking rod away from the striking head is provided with a boss that protrudes radially outward, and the open end of the cylinder is provided with a limiting platform that converges toward the central axis of the cylinder. The boss is located on the side of the limiting platform near the bottom wall of the cylinder. An electromagnet is provided on the inner bottom wall of the cylinder, and an orifice plate that converges toward the central axis of the cylinder is provided on the inner peripheral wall of the cylinder. The orifice plate is located between the electromagnet and the boss, and an elastic element is connected between the orifice plate and the boss. When the elastic element is in its natural state, a gap is formed between the boss and the limiting platform, and the striking head is located in the through hole. When the electromagnet is energized, it attracts the boss and compresses the elastic element to store energy. When the electromagnet is de-energized, the striking rod passes through the through hole under the action of the elastic element, so that the striking head strikes the inverted U-shaped bend of the drag chain through the through hole.

[0015] In some embodiments, the striking head protrudes in an arc shape toward the side of the through hole.

[0016] The robotic high-flexibility drag chain cable performance testing device provided in this embodiment, compared with the prior art, sets an independently sliding second slider and an inverted U-shaped plate on the straight module, and uses a self-weight pull-back assembly to apply a continuous and stable pull-back force to the second slider. This ensures that the inverted U-shaped plate remains dynamically in contact with the side and upper half of the inverted U-shaped bend of the drag chain throughout the entire testing process, significantly suppressing the sagging, swaying, and collapse of the bend caused by the weight of the drag chain and cable. This structure makes the bending state of the drag chain highly stable during reciprocating motion, and the bending position and stress state of the cable are basically consistent each time it bends, thereby greatly improving the accuracy and repeatability of the drag chain cable performance testing results and solving the technical problem of test data deviation caused by unstable bending state in the prior art. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the robot high-flexibility drag chain cable performance testing device in use, provided in an embodiment of the present invention. Figure 2This is a schematic diagram of the robot high-flexibility drag chain cable performance testing device provided in an embodiment of the present invention, from another perspective of its usage. Figure 3 This is a schematic diagram of the robot high-flexibility drag chain cable performance testing device provided in an embodiment of the present invention, from another perspective of its usage. Figure 4 This is an embodiment of the present invention. Figure 3 A magnified schematic diagram of the structure at point III in the middle; Figure 5 A schematic diagram of the structure of the robot high-flexibility drag chain cable performance testing device provided in an embodiment of the present invention, showing the removal of the drag chain and cable; Figure 6 This is an embodiment of the present invention. Figure 5 A magnified schematic diagram of a portion of the structure at point I; Figure 7 This is a schematic diagram of the robot high-flexibility drag chain cable performance testing device provided in an embodiment of the present invention, showing the drag chain and cable removed from another perspective. Figure 8 This is an embodiment of the present invention. Figure 7 A magnified schematic diagram of the structure at point II in the middle; Figure 9 This is an embodiment of the present invention. Figure 6 A frontal sectional view of the middle striking component.

[0019] The following are the labeling elements in the figure: 1. Cable carrier; 2. Cable; 10. Base plate; 11. Second mounting bracket; 12. Second fixing component; 13. Third fixing component; 20. Linear module; 21. First slider; 22. Telescopic component; 23. Flat plate; 24. First mounting bracket; 25. First fixing component; 26. Rotary gripper; 30. Second slider; 40. Inverted U-shaped plate; 41. Through hole; 50. Self-weight pull-back assembly; 51. Flexible traction component; 52. Counterweight; 53. Guide wheel assembly; 531. Upper guide wheel; 532. Lower guide wheel; 60. Rodless cylinder; 70. Striking assembly; 71. Cylinder; 711. Limiting platform; 712. Perforated plate; 72. Striking rod; 721. Boss; 73. Striking head; 74. Elastic component; 75. Electromagnet. Detailed Implementation

[0020] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0021] It should be noted that when an element is referred to as being "set on" another element, it can be directly on or indirectly on the other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the invention, "a number" means two or more, unless otherwise explicitly specified.

[0022] The preceding and following directions mentioned throughout the text are Figure 1 The forward and backward directions are indicated by the middle arrow.

[0023] Please see Figures 1 to 9 The performance testing device for high-flexibility drag chain cables for robots provided by the present invention will now be described. The device includes a base plate 10, a linear module 20, a second slider 30, and a self-weight pull-back assembly 50. The base plate 10 is used to place the drag chain 1 and the cable 2 passing through the drag chain 1, and to fix one end of the drag chain 1 and the cable 2. The linear module 20 is horizontally arranged, and a first slider 21 is slidably connected to the top of the linear module 20. The first slider 21 is used to fix the other end of the drag chain 1 and the cable 2. The drag chain 1 and the cable 2 form a U-shaped structure with the opening facing one side. The second slider 30 is slidably connected along the direction of the linear module 20. In the linear module 20, the second slider 30 is provided with an inverted U-shaped plate 40. The inverted U-shaped plate 40 is located inside the inverted U-shaped bend of the cable chain 1 and corresponds to the side and upper half of the inverted U-shaped bend. The self-weight pull-back assembly 50 is provided in the linear module 20. The self-weight pull-back assembly 50 includes a flexible traction member 51 and a counterweight member 52. One end of the flexible traction member 51 is connected to the second slider 30, and the other end of the flexible traction member 51 is connected to the counterweight member 52. The counterweight member 52 applies a pull-back force along the direction of the linear module 20 to the second slider 30 through the flexible traction member 51.

[0024] This application provides a performance testing device for a highly flexible drag chain cable for robots. In its actual use, during the test preparation stage, the operator first places the drag chain 1 and its internal cable 2 on a base plate 10, fixing one end of each to the base plate 10. Then, the other ends of the drag chain 1 and cable 2 are fixed to the first slider 21 of the linear module 20. At this time, the drag chain 1 and cable 2 hang naturally, forming a U-shaped structure with the opening facing one side. After starting the linear module 20, the first slider 21 moves back and forth horizontally, simulating the reciprocating bending motion of the drag chain 1 in an actual device. During this process, the second slider 30 maintains contact with the side and upper inner side of the inverted U-shaped bend of the drag chain 1 through the inverted U-shaped plate 40. Since the inverted U-shaped plate 40 is connected to the second slider 30, and the second slider 30 is connected to the counterweight 52 through the flexible traction member 51 of the self-weight pull-back assembly 50, the counterweight 52 continuously applies a pull-back force along the direction of the linear module 20 to the second slider 30 under the action of gravity through the flexible traction member 51. The pull-back force ensures that the inverted U-shaped plate 40 always moves with the inverted U-shaped bend and continuously presses against the side and upper inner side of the bend of the cable chain 1, effectively suppressing sagging, swaying, or local collapse of the bend due to its own weight. Specifically, when the first slider 21 moves forward, the inverted U-shaped bend rolls forward, causing the inverted U-shaped plate 40 to follow, and the counterweight 52 rises under the action of the flexible traction member 51; when the first slider 21 moves backward, the counterweight 52 descends under its own weight, pulling back the second slider 30 to pull the inverted U-shaped plate 40 backward, ensuring that the inverted U-shaped plate 40 is always in the inner support position of the inverted U-shaped bend. The operator can adjust the pull-back force by increasing or decreasing the mass of the counterweight 52 according to the actual weight and stroke length of the cable chain 1 to meet the testing requirements of different specifications of cable chains 1.

[0025] The robot high-flexibility drag chain cable performance testing device provided in this embodiment, compared with the prior art, by setting an independently sliding second slider 30 and an inverted U-shaped plate 40 on the straight module 20, and using the self-weight pull-back assembly 50 to apply a continuous and stable pull-back force to the second slider 30, ensures that the inverted U-shaped plate 40 remains dynamically in contact with the side and upper half of the inverted U-shaped bend of the drag chain 1 throughout the entire testing process. This significantly suppresses the sagging, swaying, and collapse of the bend caused by the self-weight of the drag chain 1 and the cable 2. This structure makes the bending state of the drag chain 1 highly stable during reciprocating motion, and the bending position and stress state of the cable 2 are basically consistent each time it bends, thereby greatly improving the accuracy and repeatability of the performance testing results of the drag chain 1 and cable 2, and solving the technical problem of test data deviation caused by unstable bending state in the prior art.

[0026] In one possible implementation, the aforementioned weight-based pullback assembly 50 adopts, as shown in... Figures 1 to 3 , Figure 5 and Figure 7 The structure shown is described in the following document. Figures 1 to 3 , Figure 5 and Figure 7 The self-weight pull-back assembly 50 also includes a guide wheel assembly 53, which is rotatably connected to the linear module 20. The flexible traction member 51 is wound around the guide wheel assembly 53. The guide wheel assembly 53 includes an upper guide wheel 531 and a lower guide wheel 532. The upper guide wheel 531 is located above the lower guide wheel 532 and is located on the side of the lower guide wheel 532 away from the first slider 21. The flexible traction member 51 is wound around the lower guide wheel 532 and the upper guide wheel 531 and then connected to the second slider 30 and the counterweight 52 respectively.

[0027] Specifically, when assembling the self-weight pullback assembly 50, the operator rotates and connects the upper guide wheel 531 and the lower guide wheel 532 in the guide wheel assembly 53 to appropriate positions on the linear module 20, with the upper guide wheel 531 mounted above the lower guide wheel 532 and located on the side of the lower guide wheel 532 away from the first slider 21. When inserting the flexible traction member 51, one end of the flexible traction member 51 is fixed to the second slider 30, and then the flexible traction member 51 is made to pass around the lower guide wheel 532 and the upper guide wheel 531 successively. Finally, the other end of the flexible traction member 51 is connected to the counterweight 52. In actual operation, when the first slider 21 moves forward, the inverted U-shaped bend of the drag chain 1 moves forward, and the inverted U-shaped plate 40 follows forward under the pushing action of the inverted U-shaped bend. The counterweight 52 rises under the drive of the flexible traction member 51. When the first slider 21 moves backward, the inverted U-shaped bend moves backward, and the counterweight 52 falls under its own weight. The flexible traction member 51 pulls back the second slider 30, causing the inverted U-shaped plate 40 to follow backward. The flexible traction member 51 slides smoothly between the lower guide wheel 532 and the upper guide wheel 531. The gravity of the counterweight 52 is stably converted into a horizontal pull force on the second slider 30 through this winding path. The operator can adjust the relative horizontal distance between the upper guide wheel 531 and the lower guide wheel 532 according to the length of the linear module 20 and the test stroke to change the wrap angle and tension distribution of the flexible traction member 51, ensuring that the pull force is uniform and stable under different strokes.

[0028] By setting up upper guide wheels 531 and lower guide wheels 532 arranged vertically and horizontally staggered, the flexible traction component 51 forms a specific winding path on the guide wheel assembly 53, achieving efficient and smooth conversion of the vertical gravity of the counterweight 52 into the horizontal pull force, ensuring that the second slider 30 receives a stable pull force. Simultaneously, this guide wheel arrangement ensures a clear and smooth movement trajectory for the flexible traction component 51, preventing entanglement, jamming, or excessive wear during reciprocating motion. This improves the operational reliability and service life of the self-weight pull-back assembly 50, and guarantees the continuous and stable support of the inverted U-shaped plate 40 for the curved portion of the cable chain 1.

[0029] In one possible implementation, the second slider 30 described above adopts the following... Figure 5 and Figure 6 The structure shown is described in the following document. Figure 5 and Figure 6 The second slider 30 is provided with a rodless cylinder 60 extending in the vertical direction, and the inverted U-shaped plate 40 is provided on the sliding piston of the rodless cylinder 60.

[0030] Specifically, before installing the inverted U-shaped plate 40, the operator first fixes the rodless cylinder 60 vertically onto the second slider 30. The sliding piston of the rodless cylinder 60 is fitted onto the outside of the cylinder body and can slide up and down along the cylinder body. The inverted U-shaped plate 40 is fixedly connected to the sliding piston. During the pre-test adjustment phase, the operator controls the air pressure and direction of the rodless cylinder 60 to drive the sliding piston to move up and down along the cylinder body, thereby adjusting the vertical height of the inverted U-shaped plate 40 so that it is accurately aligned with the side and upper half of the inverted U-shaped bend of the cable chain 1. After adjustment, the sliding piston can be locked at the current height using the pressure-holding locking function of the rodless cylinder 60 or its built-in locking mechanism to ensure that the height of the inverted U-shaped plate 40 remains constant during the test. During testing, when the inverted U-shaped bend of the cable chain 1 experiences slight up-and-down movement due to varying speeds or loads, the operator can control the rodless cylinder 60 to remain in a floating state. This allows the sliding piston to adaptively micro-move on the cylinder body as the bend moves, absorbing the energy of the movement and preventing hard impacts or disengagement between the inverted U-shaped plate 40 and the bend of the cable chain 1. Alternatively, the rodless cylinder 60 can be locked as needed to provide rigid support. The air supply for the rodless cylinder 60 is provided by an external air system, and the operator can adjust the air pressure to change the damping force during floating, thus adapting to the dynamic characteristics of different cable chain specifications.

[0031] By replacing the traditional slide rail and slider structure with a rodless cylinder 60, not only is precise and rapid adjustment of the height of the inverted U-shaped plate 40 achieved, but the floating and locking functions of the rodless cylinder 60 also allow for flexible switching between rigid support and flexible self-adaptation, better adapting to different testing conditions. The rodless cylinder 60 has a compact structure, occupies little space, and has a fast response speed, facilitating integration with the test control system to achieve automatic adjustment and dynamic following of the inverted U-shaped plate 40 height, further improving the automation level and testing accuracy of the detection device. Simultaneously, the rodless cylinder 60 has good sealing performance, low wear, and high reliability for long-term reciprocating use, reducing maintenance costs.

[0032] In one possible implementation, the aforementioned linear module 20 adopts as follows: Figure 2 and Figure 3 The structure shown is described in the following document. Figure 2 and Figure 3 The bottom of the linear module 20 is provided with a telescopic component 22. The fixed end of the telescopic component 22 is supported on the ground, and the telescopic end of the telescopic component 22 is connected to the linear module 20.

[0033] Specifically, when installing the linear module 20, the operator first securely supports the fixed end of the telescopic component 22 on the ground or test platform, and then fixes the telescopic end of the telescopic component 22 to the bottom of the linear module 20. Before the test begins, based on the actual height position of the inverted U-shaped bend of the cable chain 1 under test, the operator controls the telescopic component 22 to extend or retract, driving the linear module 20 to rise or fall as a whole, thereby changing the overall height of the first slider 21, the second slider 30, and the inverted U-shaped plate 40, so that the inverted U-shaped plate 40 can accurately correspond to the side and upper half of the inverted U-shaped bend of the cable chain 1. The telescopic component 22 can be a cylinder, a hydraulic cylinder, or an electric push rod. When changing to a different specification of cable chain 1, the height can be quickly adapted simply by readjusting the extension length of the telescopic component 22. During the test, the telescopic component 22 remains locked to ensure that the height position of the linear module 20 is constant, and the inverted U-shaped plate 40 remains at the correct support height during its reciprocating motion.

[0034] By using the telescopic component 22 to support and adjust the overall height of the linear module 20, the testing device can quickly adapt to the testing requirements of cable carriers 1 and cables 2 of different sizes and bending radii, without the need for complex disassembly and adjustment, significantly improving testing efficiency. Simultaneously, the height adjustment function of the telescopic component 22, together with the vertical adjustment function of the rodless cylinder 60 in claim 3, forms a dual height adjustment mechanism. Their combined effect covers a wider range of cable carrier 1 specifications, further enhancing the versatility and ease of operation of the device.

[0035] In one possible implementation, the first slider 21 described above adopts the following... Figures 1 to 3 , Figure 5 and Figure 7 The structure shown is described in the following document. Figures 1 to 3 , Figure 5 and Figure 7 The top of the first slider 21 is provided with a flat plate 23 extending horizontally towards the side above the base plate 10, and the upper end of the drag chain 1 is fastened to the top of the flat plate 23; the top of the flat plate 23 is provided with a first mounting bracket 24, and a first fixing member 25 is threadedly connected to the first mounting bracket 24, and the lower end of the first fixing member 25 abuts against the upper end of the drag chain 1.

[0036] Specifically, when fixing the upper end of the cable chain 1, the operator first extends the plate 23 on top of the first slider 21 horizontally towards the base plate 10, and then fastens the upper end of the cable chain 1 onto the top surface of the plate 23. Next, the operator fixes the first mounting bracket 24 to the top of the plate 23. The operator then screws the first fixing member 25 to gradually move its lower end downwards until the lower end of the first fixing member 25 tightly abuts against the upper surface of the upper end of the cable chain 1, thereby pressing and fixing the end of the cable chain 1 onto the plate 23. During testing, the first slider 21 drives the plate 23 to move back and forth, and the plate 23, through the clamping force of the first fixing member 25, drives the upper end of the cable chain 1 to move synchronously, ensuring no relative slippage between the upper end of the cable chain 1 and the first slider 21. When it is necessary to replace the cable chain 1, simply screw the first fixing member 25 in the opposite direction to release the clamping state and quickly complete the replacement.

[0037] The first mounting bracket 24 on the plate 23 and the first fastener 25 connected by threads enable quick and reliable fixing of the upper end of the cable chain 1. The clamping force is adjustable and the locking is stable, effectively preventing relative movement between the upper end of the cable chain 1 and the first slider 21 during testing. This ensures that the reciprocating stroke of the first slider 21 is accurately transmitted to the cable chain 1, improving the accuracy of the bending stroke and the reliability of the test data. At the same time, the threaded connection structure is simple and easy to operate, facilitating quick assembly and disassembly of the cable chain 1 and improving testing efficiency.

[0038] In some embodiments, see Figure 3 and Figure 4 The bottom surface of the plate 23 is provided with a rotating air gripper 26. The gripping end of the rotating air gripper 26 grips the upper end of the cable 2, and the rotation axis of the rotating air gripper 26 is set along the length direction of the upper end of the cable 2.

[0039] Specifically, when fixing the upper end of cable 2, the operator mounts the rotary gripper 26 onto the bottom surface of the plate 23, so that the gripping end of the rotary gripper 26 clamps the upper end of cable 2, ensuring that the rotation axis of the rotary gripper 26 is set along the length of the upper end of cable 2. During the test, in addition to the linear module 20 driving the cable chain 1 to bend back and forth, the operator can also drive the rotary gripper 26 to reciprocate at a set angle and frequency through an external controller, thereby causing the upper end of cable 2 to twist around its own axis. This twisting motion simulates the torsional load on cable 2 during the robot's multi-pose operation, realizing a combined bending and torsion load test. The clamping force of the rotary gripper 26 can be adjusted according to the outer diameter of cable 2 to avoid excessive clamping that damages the cable 2 sheath or excessive clamping that causes slippage, ensuring that the end of cable 2 is reliably fixed when bending and twisting occur simultaneously.

[0040] By setting a rotating pneumatic gripper 26 on the bottom surface of the flat plate 23, the testing device can not only perform simple bending fatigue tests, but also simultaneously apply torsional loads to simulate the bending and torsional composite working conditions that the high-flexibility drag chain 1 cable 2 of the robot is subjected to in actual multi-posture operation. This more realistically restores the actual service state of the cable 2, making the test results closer to engineering practice and improving the simulation accuracy and applicability of the testing device.

[0041] In one possible implementation, the aforementioned base plate 10 adopts the following... Figures 1 to 3 , Figure 5 and Figure 7 The structure shown is described in the following document. Figures 1 to 3 , Figure 5 and Figure 7 The top of the base plate 10 is provided with a second mounting bracket 11. The second mounting bracket 11 is threaded with a second fixing member 12 and a third fixing member 13. The lower end of the second fixing member 12 presses against the lower end of the cable chain 1, and the lower end of the third fixing member 13 presses against the lower end of the cable 2.

[0042] Specifically, when fixing the lower end of the cable chain 1 and cable 2, the operator places the lower end of the cable chain 1 under the second mounting bracket 11, and screws on the second fixing member 12 to move its lower end downward and press against the upper surface of the cable chain 1, thus fixing the lower end of the cable chain 1. Similarly, the lower end of the cable 2 is placed under the second mounting bracket 11, and the third fixing member 13 is screwed on to move its lower end downward and press against the upper surface of the cable 2, thus fixing the lower end of the cable 2. The second fixing member 12 and the third fixing member 13 are set independently, and the operator can adjust their clamping force separately to ensure that the cable chain 1 and cable 2 are firmly clamped. During the test, the base plate 10 remains fixed, thereby ensuring that the lower end of the cable chain 1 and cable 2 is always stationary, forming a stable bending motion with the reciprocating motion of the upper end.

[0043] The lower ends of the drag chain 1 and the cable 2 are independently fixed by the second fixing member 12 and the third fixing member 13 on the second mounting bracket 11, so that the drag chain 1 and the cable 2 are individually pressed at the lower ends. This avoids mutual force or relative slippage between the two due to sharing the same pressing structure, ensuring the stability and reliability of the lower end fixation, and further ensuring the consistency of the initial state of each bending test, which is conducive to improving the consistency of the test results.

[0044] In one possible implementation, the aforementioned inverted U-shaped plate 40 adopts, as shown in... Figures 5 to 9 The structure shown is described in the following document. Figures 5 to 9The inverted U-shaped plate 40 is provided with a horizontal through hole 41, which faces the side of the inverted U-shaped bend. A striking component 70 is provided on the side of the inverted U-shaped plate 40 away from the drag chain 1. The striking component 70 includes a cylinder 71, a striking rod 72 and a striking head 73. The opening of the cylinder 71 faces the through hole 41. The striking rod 72 is slidably connected inside the cylinder 71. The striking head 73 is connected to the end of the striking rod 72 facing the through hole 41.

[0045] Specifically, the operator makes a horizontal through hole 41 in the inverted U-shaped plate 40, facing the side and upper half of the inverted U-shaped bend of the cable chain 1. A striking assembly 70 is installed on the side of the inverted U-shaped plate 40 away from the cable chain 1. A cylinder 71 is fixed to the inverted U-shaped plate 40, with the opening of the cylinder 71 facing the through hole 41. A striking rod 72 slides through the cylinder 71, and a striking head 73 is connected to the end of the striking rod 72 facing the through hole 41. During the test, as the cable chain 1 reciprocates with the first slider 21, the operator can drive the striking rod 72 to slide within the cylinder 71 at specific moments, causing the striking head 73 to extend through the through hole 41 and strike the outer wall of the inverted U-shaped bend of the cable chain 1, simulating the unexpected collision or impact load that the bend of the cable chain 1 may encounter in actual working conditions. The frequency and force of the tapping can be adjusted according to the test requirements. The operator can set the tapping to be triggered at different motion phases (such as the midpoint of the forward stroke, the end point of the backward stroke, etc.) to examine the changes in the electrical and mechanical properties of cable 2 under impact load.

[0046] By setting through holes 41 on the inverted U-shaped plate 40 and cooperating with the impact component 70, the testing device can apply controllable impact loads to most parts of the cable chain 1 in addition to the conventional bending fatigue test. This simulates the sudden working conditions such as collisions and compression that the cable chain 1 may encounter in actual use, thereby more comprehensively evaluating the overall performance of the cable chain 1 and cable 2 under complex and harsh conditions. This enriches the testing function of the testing device and provides more dimensions of data support for the reliability assessment of cable 2.

[0047] In some embodiments, see Figures 5 to 9 The striking rod 72 has a boss 721 that protrudes radially outward at the end away from the striking head 73. The open end of the cylinder 71 has a limiting platform 711 that converges toward the central axis of the cylinder 71. The boss 721 is located on the side of the limiting platform 711 near the inner bottom wall of the cylinder 71. An electromagnet 75 is provided on the inner bottom wall of the cylinder 71. An orifice plate 712 that converges toward the central axis of the cylinder 71 is provided on the inner peripheral wall of the cylinder 71. The orifice plate 712 is located between the electromagnet 75 and the boss 721. An elastic element 74 is connected between the orifice plate 712 and the boss 721. When the elastic element 74 is in its natural state, a gap is formed between the boss 721 and the limiting platform 711, and the striking head 73 is located inside the through hole 41. When the electromagnet 75 is energized, it attracts the boss 721 and compresses the elastic element 74 to store energy. When the electromagnet 75 is de-energized, the striking rod 72 passes through the through hole 41 under the action of the elastic element 74, so that the striking head 73 strikes the inverted U-shaped bend of the drag chain 1 through the through hole 41.

[0048] Specifically, in the initial natural state, the elastic element 74 is in a freely elongated state, and a certain gap is maintained between the boss 721 and the limiting platform 711. At this time, the striking head 73 is retracted into the through hole 41 of the inverted U-shaped plate 40, and does not extend beyond the inner surface of the inverted U-shaped plate 40, ensuring that the striking head 73 will not interfere with the bent part of the cable chain 1 during the normal bending test. When impact loading is required, the operator energizes the electromagnet 75 through the controller. The electromagnet 75 generates magnetic force to attract the boss 721 (the boss 721 is made of ferromagnetic material). The boss 721 overcomes the elastic force of the elastic element 74 and moves towards the electromagnet 75. The elastic element 74 is compressed and stores energy. At the same time, the striking rod 72 drives the striking head 73 to retract away from the cable chain 1. Once the set compression stroke is reached, the operator instantly disconnects the power to the electromagnet 75. The magnetic force disappears, and the elastic element 74 rapidly releases its stored elastic potential energy, propelling the striking rod 72 and striking head 73 at high speed towards the through hole 41. The striking head 73 passes through the through hole 41 and exits the inner surface of the inverted U-shaped plate 40, striking the outer wall of the U-shaped bend of the cable chain 1 with a controllable force, completing one impact. After the impact, the operator can re-energize the electromagnet 75, pulling the striking rod 72 back and retracting the striking head 73 into the through hole 41, restoring it to its initial non-interference state, awaiting the next impact command. Throughout the test, regardless of whether the inverted U-shaped plate 40 moves forward or backward with the bend of the cable chain 1, the striking component 70 can be triggered at any set motion phase without affecting the normal support and follow-up function of the inverted U-shaped plate 40 for the bend of the cable chain 1.

[0049] Through the coordinated operation of electromagnet 75 and elastic element 74, rapid and precise control of impact load is achieved, with fast response speed and good energy consistency of each impact, providing a reliable and repeatable loading method for impact performance testing of cable 2 and cable chain 1. At the same time, in its natural state, the impact head 73 of elastic element 74 is retracted into the through hole 41, ensuring that the fit between the inverted U-shaped plate 40 and the bent part of cable chain 1 is not interfered with in the conventional bending test stage. After the impact is completed, it can be quickly reset by electromagnet 75, achieving seamless compatibility between impact test and conventional bending test. It does not affect the efficiency of conventional testing and can add impact test items as needed, greatly improving the flexibility of the testing device and the coverage of test scenarios. Moreover, the overall structure is compact and the control is simple.

[0050] In some embodiments, see Figure 9The striking head 73 has an arc-shaped protrusion facing the through hole 41.

[0051] Specifically, the radius of curvature of the arc-shaped protrusion is selected according to the outer wall profile of the U-shaped bend of the cable chain 1, and is usually designed as a concave or convex arc structure that matches the outer diameter of the cable chain 1 sheath. During the test, when the electromagnet 75 is de-energized and the elastic element 74 releases energy to push the striking rod 72 and the striking head 73 out at high speed through the through hole 41, the arc-shaped protrusion at the front end of the striking head 73 first contacts the outer wall of the U-shaped bend of the cable chain 1. Because the surface of the arc-shaped protrusion is smooth and the curvature transition is uniform, the striking head 73 and the outer wall of the cable chain 1 form a surface contact or a smooth point contact, rather than a sharp edge impact. This arc-shaped protrusion can adaptively conform to the curvature of the outer wall of the bend of the cable chain 1, and transmit the impact force to the surface of the cable chain 1 more evenly, avoiding local stress concentration. During repeated impacts, the smooth shape of the arc-shaped protrusion can also provide a certain guiding effect at the moment of contact. Even if there is a slight positional shift in the cable chain 1 during bending, the arc-shaped protrusion can slide smoothly and complete the impact, ensuring that the position and angle of each strike are basically consistent. Operators can replace the striking head 73 with arc-shaped protrusions with different radii of curvature according to different outer diameters of the cable chain 1 and sheath materials to optimize the impact contact effect.

[0052] By providing an arc-shaped protrusion on the side of the striking head 73 facing the through hole 41, a smooth arc-shaped contact is formed when the striking head 73 contacts the outer wall of the U-shaped bend of the cable chain 1. This effectively avoids the risk of scratches, indentations, or local punctures caused by sharp edges to the cable chain 1 sheath, protecting the structural integrity of the cable chain 1 and the internal cable 2, and ensuring that the impact test itself will not cause additional damage to the specimen and interfere with the test results. At the same time, the arc-shaped protrusion can adaptively conform to the outer wall contour of the bend of the cable chain 1, making the impact force transmission more uniform and stable, improving the repeatability and consistency of each strike, and further enhancing the reliability and data credibility of the impact loading test. In addition, the guiding effect of the arc-shaped protrusion can also compensate for the positional deviation caused by the movement and vibration of the cable chain 1, enhancing the adaptability and stability of the striking assembly 70 in dynamic testing environments.

[0053] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A performance testing device for high-flexibility drag chain cables for robots, characterized in that, include: A base plate is used to place the cable chain and the cable threaded through the cable chain, and to fix one end of the cable chain and the cable. A linear module is horizontally arranged, and a first slider is slidably connected to the top of the linear module. The first slider is used to fix the other end of the drag chain and the cable so that the drag chain and the cable form a rotary structure. The rotary structure has an inverted U-shaped bend with the opening facing the horizontal side. A second slider is slidably connected to the straight module along its direction. The second slider has an inverted U-shaped plate located inside the inverted U-shaped bend of the cable chain and corresponding to the side and upper half of the bend. A self-weight pull-back assembly is disposed in the linear module. The self-weight pull-back assembly includes a flexible traction member and a counterweight member. One end of the flexible traction member is connected to the second slider, and the other end of the flexible traction member is connected to the counterweight member. The counterweight member applies a pull-back force along the direction of the linear module to the second slider through the flexible traction member.

2. The performance testing device for high-flexibility drag chain cables for robots as described in claim 1, characterized in that, The self-weight pull-back assembly also includes a guide wheel group, which is rotatably connected to the linear module. The flexible traction member is wound around the guide wheel group. The guide wheel group includes an upper guide wheel and a lower guide wheel. The upper guide wheel is located above the lower guide wheel and is located on the side of the lower guide wheel away from the first slider. The flexible traction member is wound around the lower guide wheel and the upper guide wheel in succession and then connected to the second slider and the counterweight respectively.

3. The performance testing device for high-flexibility drag chain cables for robots as described in claim 1, characterized in that, The second slider is provided with a rodless cylinder extending in the vertical direction, and the inverted U-shaped plate is provided on the sliding piston of the rodless cylinder.

4. The performance testing device for high-flexibility drag chain cables for robots as described in claim 1, characterized in that, The bottom of the linear module is provided with a telescopic component, the fixed end of which is supported on the ground, and the telescopic end of which is connected to the linear module.

5. The performance testing device for high-flexibility drag chain cables for robots as described in claim 1, characterized in that, The top of the first slider is provided with a flat plate extending horizontally toward the side above the base plate, and the upper end of the drag chain is fastened to the top of the flat plate; the top of the flat plate is provided with a first mounting bracket, and a first fixing member is threadedly connected to the first mounting bracket, and the lower end of the first fixing member abuts against the upper end of the drag chain.

6. The performance testing device for high-flexibility drag chain cables for robots as described in claim 5, characterized in that, The bottom surface of the plate is provided with a rotating pneumatic gripper, the gripping end of the rotating pneumatic gripper grips the upper end of the cable, and the rotation axis of the rotating pneumatic gripper is set along the length direction of the upper end of the cable.

7. The performance testing device for high-flexibility drag chain cables for robots as described in claim 1, characterized in that, The top of the base plate is provided with a second mounting bracket, on which a second fixing member and a third fixing member are threadedly connected. The lower end of the second fixing member presses against the lower end of the cable chain, and the lower end of the third fixing member presses against the lower end of the cable.

8. The performance testing device for high-flexibility drag chain cables for robots as described in claim 1, characterized in that, The inverted U-shaped plate is provided with a horizontal through hole, which faces the side of the inverted U-shaped bend; a striking assembly is provided on the side of the inverted U-shaped plate away from the cable chain, the striking assembly includes a cylinder, a striking rod and a striking head, the opening of the cylinder faces the through hole, the striking rod is slidably connected to the cylinder, and the striking head is connected to the end of the striking rod facing the through hole.

9. The performance testing device for high-flexibility drag chain cables for robots as described in claim 8, characterized in that, The striking rod has a radially outward protrusion at the end away from the striking head. The open end of the cylinder has a limiting platform that converges toward the central axis of the cylinder. The protrusion is located on the side of the limiting platform near the bottom wall of the cylinder. An electromagnet is provided on the bottom wall of the cylinder. An orifice plate that converges toward the central axis of the cylinder is provided on the inner peripheral wall of the cylinder. The orifice plate is located between the electromagnet and the protrusion. An elastic element connects the orifice plate and the protrusion. When the elastic element is in its natural state, a gap is formed between the boss and the limiting platform, and the striking head is located inside the through hole; when the electromagnet is energized, it attracts the boss and compresses and stores energy in the elastic element; when the electromagnet is de-energized, the striking rod passes through the through hole under the action of the elastic element, so that the striking head strikes the inverted U-shaped bend of the cable chain through the through hole.

10. The performance testing device for high-flexibility drag chain cables for robots as described in claim 8, characterized in that, The striking head has an arc-shaped protrusion facing the through hole.

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