Industrial robot wrist wire harness reliability test device

Abstract

The utility model belongs to the technical field of industrial robots, and particularly relates to an industrial robot wrist wire harness reliability test device. Comprising a rotation driving mechanism, a rotation plate, a spiral wire harness, a cable protection cylinder, a protection cylinder support, a supporting plate and a bottom plate, the rotation driving mechanism, the protection cylinder support and the supporting plate are sequentially arranged on the bottom plate, the rotation plate is arranged at the output end of the rotation driving mechanism, the cable protection cylinder is arranged on the protection cylinder support, and the spiral wire harness is contained in the cable protection cylinder. And the rotation driving mechanism drives one end of the spiral wire harness to do forward and reverse reciprocating motion, so that the wear test of the spiral wire harness is carried out. According to the utility model, the movement condition and the abrasion degree of the cable can be clearly observed when the cable reciprocates at + / -125 degrees, so that the manual maintenance and material loss are reduced, the cost of an industrial robot is indirectly reduced, and the reliability of the robot wrist cable is also improved at the same time.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and particularly relates to a reliability test device for an industrial robot wrist harness. Background Art

[0002] Space needs to be reserved for arranging cables at the connection between the wrist and forearm of the industrial robot. Since the cable routing at the connection between the forearm and wrist of the industrial robot is not easy to observe, the damage can only be observed after a series of parts are disassembled. In addition, since the cables are composed of multiple harnesses, when the industrial robot is routed and the five or six axes are operating for a long time, bending, twisting, entanglement, stretching, or friction with the outer wall of the robot will inevitably cause cable wear. Therefore, it is necessary to conduct a torsion simulation experiment on the wrist harness of the industrial robot to detect cable wear, stability and service life.

[0003] In order to solve the above problems, the common solutions are as follows:

[0004] At present, there are only a few industrial robot cable wear test devices and methods in the relevant field. There is an industrial robot cable wear test device and method under compound motion. The device uses two forms of friction testing methods, sliding and rotating, and also performs accelerated wear tests on the robot's cables. During the test, heavy objects act as loads, but since it is impossible to achieve continuous changes in the load, it is difficult to simulate the actual working conditions of the robot cable, and the simulation is poor; secondly, the test method uses image recognition technology to detect the degree of cable wear, and cannot accurately capture the critical point of cable insulation breakdown. The detection accuracy and prediction accuracy are low, and the structure is more complex, and the design cost is also increasing.

[0005] Through patent search, a method and device for accelerated wear testing that simulates continuous load fluctuations and environmental vibrations is provided to solve the problem that there is currently a lack of accelerated wear reliability testing methods and devices for industrial robot cables in a simulated environment. The simulation is performed through the corresponding mechanical structure, and the detection device is used to monitor the current of the energized cable in real time to achieve the accelerated wear reliability test of the robot cable in a simulated environment. This structure has the disadvantages of a complex design process, difficult operation, large size, and high material cost. Utility Model Content

[0006] In view of the above problems, the purpose of the utility model is to provide an industrial robot wrist harness reliability test device to solve the problems of complex structure, large size, difficult operation and high design cost of existing test devices.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] The utility model provides an industrial robot wrist harness reliability test device, comprising a rotary drive mechanism, a rotary plate, a spiral harness, a cable protective cylinder, a protective cylinder bracket, a support plate and a bottom plate, wherein the rotary drive mechanism, the protective cylinder bracket and the support plate are sequentially arranged on the bottom plate, the rotary plate is arranged at the output end of the rotary drive mechanism, the cable protective cylinder is arranged on the protective cylinder bracket, the spiral harness is accommodated in the cable protective cylinder, and the two ends are respectively connected to the rotary plate and the support plate, and the rotary drive mechanism drives one end of the spiral harness to move forward and backward repeatedly, so as to perform a wear test on the spiral harness.

[0009] The helical wire bundle is divided into a helical wire coil portion and two groups of helical wire straight ends located at two ends of the helical wire coil portion, and the two groups of helical wire straight ends are respectively fixed on the rotating plate and the supporting plate.

[0010] The helical wire bundle includes thin helical wires and thick helical wires nested inside and outside;

[0011] The thick helical wire comprises a thick helical wire coil portion and a thick helical wire straight end I and a thick helical wire straight end II arranged at two ends of the thick helical wire coil portion;

[0012] The fine spiral wire comprises a fine spiral wire coil portion and a fine spiral wire straight end I and a fine spiral wire straight end II arranged at two ends of the fine spiral wire coil portion;

[0013] The thin spiral wire winding portion is accommodated inside the thick spiral wire winding portion with a gap between the thin spiral wire straight end I and the thick spiral wire straight end I located on the same side and overlapped, and the thin spiral wire straight end II and the thick spiral wire straight end II located on the same side and overlapped.

[0014] The rotating plate is of symmetrical structure and is provided with a spiral wire routing hole I, a cable tie circular hole and a cable tie waist for fixing the spiral wire harness.

[0015] The rotary drive mechanism comprises a motor, a motor bracket and a rotary sleeve, wherein the motor bracket is arranged on the bottom plate, the motor is arranged on the motor bracket, and the motor output shaft is connected to the rotary plate through the rotary sleeve.

[0016] The support plate is an L-shaped structure consisting of a vertical plate and a bottom plate, and the vertical plate is provided with a small hole for a cable tie, a large hole for a cable tie and a spiral wire routing hole II for fixing the spiral wire harness; the bottom plate is provided with a support plate strip hole, and the relative installation position of the support plate and the bottom plate is adjusted through the support plate strip hole.

[0017] Reinforcing ribs are provided between the vertical plate and the bottom plate.

[0018] The rotary drive mechanism drives one end of the helical wire bundle to perform ±125° reciprocating motion.

[0019] The advantages and beneficial effects of the utility model are as follows: the utility model provides an industrial robot wrist harness reliability test device, which can clearly observe the movement and wear degree of the cable during ±125° reciprocating motion, reduces manual maintenance and material loss, indirectly reduces the cost of the industrial robot, and also improves the reliability of the robot wrist cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a test diagram of an industrial robot wrist harness reliability test device of the utility model;

[0021] Figure 2 This is a top view of an industrial robot wrist harness reliability test device of the utility model;

[0022] Figure 3 This is an exploded view of an industrial robot wrist harness reliability test device of the utility model;

[0023] Figure 4 It is a structural schematic diagram of the rotating plate in the utility model.

[0024] In the figure: 1-motor, 101-motor output shaft, 2-motor bracket, 3-rotating sleeve, 4-rotating plate, 401-spiral wire routing hole Ⅰ, 402-cable tie round hole, 403-cable tie waist hole, 5-thick spiral wire, 501-thick spiral wire straight end Ⅰ, 502-thick spiral wire coil part, 503-thick spiral wire straight end Ⅱ, 6-thin spiral wire, 601-thin spiral wire straight end Ⅰ, 602-thin spiral wire coil part, 603-thin spiral wire straight end Ⅱ, 7-cable protective tube, 8-protection tube bracket, 9-support plate, 901-cable tie small hole, 902-cable tie large hole, 903-spiral wire routing hole Ⅱ, 904-support plate strip hole, 10-cable riding card, 11-bottom plate. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 3As shown, the utility model provides an industrial robot wrist harness reliability test device, comprising a rotary drive mechanism, a rotary plate 4, a spiral harness, a cable protective cylinder 7, a protective cylinder bracket 8, a support plate 9 and a base plate 11, wherein the rotary drive mechanism, the protective cylinder bracket 8 and the support plate 9 are sequentially arranged on the base plate 11, the rotary plate 4 is arranged at the output end of the rotary drive mechanism, the cable protective cylinder 7 is embedded in the protective cylinder bracket 8, the spiral harness is accommodated in the cable protective cylinder 7, and the two ends are respectively connected to the rotary plate 4 and the support plate 9, and the rotary drive mechanism drives one end of the spiral harness to move forward and backward repeatedly, thereby performing a wear test on the spiral harness.

[0027] In the embodiment of the utility model, the rotary drive mechanism includes a motor 1, a motor bracket 2 and a rotary sleeve 3, wherein the motor bracket 2 is arranged on the bottom plate 11, the motor 1 is mounted on the motor bracket 2 by screws, the motor output shaft 101 of the motor 1 is connected to one end of the rotary sleeve 3 by screws, and the other end of the rotary sleeve 3 is connected to the rotary plate 4 by screws. The motor 1 drives one end of the spiral wire harness to perform ±125° reciprocating motion.

[0028] like Figure 3 As shown, in the embodiment of the utility model, the support plate 9 is an L-shaped structure composed of a vertical plate and a bottom plate, and the vertical plate is provided with a small hole 901 for fixing the spiral wire harness, a large hole 902 for the wire harness, and a spiral wire routing hole II 903; the bottom plate is provided with a support plate strip hole 904, and the relative installation position of the support plate 9 and the bottom plate 11 is adjusted through the support plate strip hole 904.

[0029] Furthermore, reinforcing ribs are provided between the vertical plate and the bottom plate.

[0030] In the embodiment of the utility model, the helical wire harness is divided into a helical wire coil portion and two groups of helical wire straight ends located at both ends of the helical wire coil portion, and the two groups of helical wire straight ends are respectively fixed on the rotating plate 4 and the supporting plate 9.

[0031] Specifically, the spiral wire bundle includes a thin spiral wire 6 and a thick spiral wire 5 nested inside and outside; the thick spiral wire 5 includes a thick spiral wire coil portion 502 and a thick spiral wire straight end I501 and a thick spiral wire straight end II503 arranged at both ends of the thick spiral wire coil portion 502; the thin spiral wire 6 includes a thin spiral wire coil portion 602 and a thin spiral wire straight end I601 and a thin spiral wire straight end II603 arranged at both ends of the thin spiral wire coil portion 602; the thin spiral wire coil portion 602 is accommodated inside the thick spiral wire coil portion 502, and a gap is left between the thin spiral wire straight end I601 and the thick spiral wire straight end I501 are located on the same side and overlapped, and the thin spiral wire straight end II603 and the thick spiral wire straight end II503 are located on the same side and overlapped.

[0032] like Figure 4As shown, in the embodiment of the utility model, the rotating plate 4 is a symmetrical structure, and the rotating plate 4 is provided with a spiral wire routing hole Ⅰ401, a cable tie circular hole 402 and a cable tie waist 403 for fixing the spiral wire bundle. The thick spiral wire straight end Ⅰ501 and the thin spiral wire straight end Ⅰ601 of the thick spiral wire 5 and the thin spiral wire 6 pass through the spiral wire routing hole Ⅰ401 and are fixed on the rotating plate 4 through the cable riding card 10. In order to further fix the spiral cable and simulate the working state at the forearm of the industrial robot, a cable tie is used to pass through the cable tie circular hole 402 to fix the transition between the thick spiral wire coil part 502 and the thick spiral wire straight end Ⅰ501 on the rotating plate 4; a cable tie is used to pass through the cable tie circular hole 402 and the cable tie waist hole 403 to fix the transition between the thin spiral wire straight end Ⅰ601 and the thin spiral wire coil part 602 on the rotating plate 4. Similarly, the straight end II503 of the thick spiral wire and the straight end II603 of the thin spiral wire are also fixed in this way. The straight end II503 of the thick spiral wire and the straight end II603 of the thin spiral wire are fixed to the outside of the support plate 9 through the spiral wire routing hole II903 and the cable riding card 10. The 90° of the thick spiral wire coil part 502 and the thin spiral wire coil part 602 are fixed to the support plate 9 through the cable tie through the small hole 901 of the cable tie and the large hole 902 of the cable tie. The transition between the thick spiral wire coil part 502 and the straight end I501 of the thick spiral wire is fixed to the support plate 9 through the cable tie through the small hole 901 of the cable tie. The transition between the straight end I601 of the thin spiral wire and the coil part 602 is fixed to the support plate 9 through the cable tie through the small hole 901 of the cable tie. The support plate strip hole 904 is used to fix on the bottom plate 11, and the distance between the support plate 9 and the protective tube bracket 8 can be adjusted. The bottom plate 11 is stepped to facilitate the positioning of the motor bracket 2 and the protective tube bracket 8 .

[0033] In this embodiment, two sets of industrial robot wrist harness reliability test devices are installed on the base plate 11 to improve work efficiency.

[0034] The utility model can simply and reliably simulate the internal structure of the wrist at the end of an industrial robot. The five-axis motor transmits power to the experimental cable through a customized rotating sleeve and a rotating plate. The cable is rotated ±125° by setting the motor parameters to simulate the normal operation of the five-axis and six-axis. A three-dimensional coil spring cable is provided at the rotation center of the five-axis joint to connect the six-axis motor, thereby solving two problems:

[0035] 1) Use fewer parts to fully simulate the movement of five-axis and six-axis cables, reduce costs and simplify assembly;

[0036] 2) The innovative rotating sleeve and rotating plate can maximize the contact area between the cable and the rotating plate when the cable tie is fixing the cable.

[0037] The utility model can clearly observe the movement of cables in a large environment, avoid unnecessary risks, and protect the structure of the end wrist of the industrial robot. It is beneficial to the miniaturized design of the industrial robot wrist, and is beneficial to reducing the processing and assembly costs of the industrial robot wrist, and improving the overall reliability of the industrial robot end wrist.

[0038] The utility model simulates the cavity wiring method of connecting the forearm and wrist joint of the industrial robot, so as to observe the movement of the spiral cable which is not easy to observe at the forearm of the industrial robot, and by observing the wear of the cable, it can greatly reduce the wear position avoidance and the complexity of the assembly process of the spiral cable wiring in the forearm and wrist joint of the industrial robot, which has a positive effect on the structural improvement and cost reduction of the industrial robot.

[0039] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. An industrial robot wrist harness reliability test device, characterized in that: The invention comprises a rotary drive mechanism, a rotary plate (4), a spiral wire harness, a cable protective cylinder (7), a protective cylinder bracket (8), a support plate (9) and a bottom plate (11), wherein the rotary drive mechanism, the protective cylinder bracket (8) and the support plate (9) are arranged on the bottom plate (11) in sequence, the rotary plate (4) is arranged at the output end of the rotary drive mechanism, the cable protective cylinder (7) is arranged on the protective cylinder bracket (8), the spiral wire harness is accommodated in the cable protective cylinder (7), and the two ends are respectively connected to the rotary plate (4) and the support plate (9), and the rotary drive mechanism drives one end of the spiral wire harness to move forward and backward repeatedly, thereby performing a wear test on the spiral wire harness.

2. The industrial robot wrist harness reliability test device according to claim 1, characterized in that: The helical wire bundle is divided into a helical wire coil portion and two groups of helical wire straight ends located at two ends of the helical wire coil portion, and the two groups of helical wire straight ends are respectively fixed on the rotating plate (4) and the supporting plate (9).

3. The industrial robot wrist harness reliability test device according to claim 2, characterized in that: The helical wire bundle comprises a thin helical wire (6) and a thick helical wire (5) which are nested inside and outside; The thick helical wire (5) comprises a thick helical wire coil portion (502) and a thick helical wire straight end I (501) and a thick helical wire straight end II (503) arranged at two ends of the thick helical wire coil portion (502); The thin spiral wire (6) comprises a thin spiral wire coil portion (602) and a thin spiral wire straight end I (601) and a thin spiral wire straight end II (603) arranged at two ends of the thin spiral wire coil portion (602); The thin spiral wire winding portion (602) is accommodated inside the thick spiral wire winding portion (502) with a gap between the thin spiral wire straight end I (601) and the thick spiral wire straight end I (501) being located on the same side and overlapping, and the thin spiral wire straight end II (603) and the thick spiral wire straight end II (503) being located on the same side and overlapping.

4. The industrial robot wrist harness reliability test device according to claim 1, characterized in that: The rotating plate (4) is a symmetrical structure and is provided with a spiral wire routing hole I (401) for fixing the spiral wire bundle, a cable tie circular hole (402) and a cable tie waist (403).

5. The industrial robot wrist harness reliability test device according to claim 1, characterized in that: The rotary drive mechanism comprises a motor (1), a motor bracket (2) and a rotary sleeve (3), wherein the motor bracket (2) is arranged on the base plate (11), the motor (1) is arranged on the motor bracket (2), and the motor output shaft (101) is connected to the rotary plate (4) via the rotary sleeve (3).

6. The industrial robot wrist harness reliability test device according to claim 1, characterized in that: The support plate (9) is an L-shaped structure consisting of a vertical plate and a bottom plate, and the vertical plate is provided with a small hole (901) for fixing the spiral wire harness, a large hole (902) for the wire harness, and a spiral wire routing hole II (903); the bottom plate is provided with a support plate strip hole (904), and the relative installation position of the support plate (9) and the bottom plate (11) is adjusted through the support plate strip hole (904).

7. The industrial robot wrist harness reliability test device according to claim 6, characterized in that: Reinforcing ribs are provided between the vertical plate and the bottom plate.

8. The industrial robot wrist harness reliability test device according to claim 1, characterized in that: The rotary drive mechanism drives one end of the helical wire bundle to perform ±125° reciprocating motion.

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