1. A multi-wire-bundle space torsion/bending friction wear test method is characterized by comprising the following steps: step one, single torsion testing;

1-1, tensioning a plurality of bundled cables to be tested to a stretched state, and enabling the tensioning force to reach a preset value;

1-2, electrifying the tested cable until the temperature of the tested cable reaches a stable value C₀Then, the tested cable is twisted back and forth;

1-3, when the tension of the tested cable is less than 80% of the tension at the moment of torsion starting, detecting the temperature C of the tested cable₁And recording the current number of times of torsion N₀(ii) a Obtaining a temperature determination thresholdAnd a torsion judgment threshold valueN₁The number of twisting times when the tested cable is twisted to be damaged;

1-4, measuring the resistance value R of the tested cable₁Calculating a resistance judgment threshold valueR₀The resistance value of the tested cable which is not twisted is obtained;

1-5, calculating the final torsion evaluation coefficientGamma, tau and P are weights of a torsion temperature judgment threshold value, a torsion frequency judgment threshold value and a torsion resistance judgment threshold value respectively;

step two, single bending test;

2-1, tensioning the bundled cables to be tested to a stretched state, and enabling the tensioning force to reach a preset value;

2-2, electrifying the tested cable until the temperature of the tested cable reaches a stable value C₀Then, the tested cable is bent in a reciprocating way;

2-3, when the tension of the tested cable is less than 80% of the tension at the moment of starting torsion, detecting the temperature C of the tested cable₁And recording the current bending times N'₀(ii) a Obtaining a temperature determination thresholdAnd a buckling judgment threshold valueWherein, N'₁Bending times of the tested cable when the tested cable is bent to be damaged;

2-4, measuring the resistance value R 'of the tested cable'₁Calculating a resistance judgment threshold value

2-5, calculating the final evaluation coefficient of bendingGamma ', tau ' and P ' are respectively the weights of a bending temperature judgment threshold value, a bending frequency judgment threshold value and a bending resistance judgment threshold value;

final evaluation coefficient eta from torsion₁And a final bending evaluation coefficient eta₂And judging the torsion and bending friction and wear performance of the tested cable under the condition of multi-wire bundle.

2. The multi-wire-bundle spatial torsion/bending frictional wear test method according to claim 1, characterized in that: in the step 1-2, the torsion speed of the tested cable is equal to the average torsion speed of the tested cable in the using process.

3. The multi-wire-bundle spatial torsion/bending frictional wear test method according to claim 1, characterized in that: after the first step and the second step are executed, the third step is executed; step three is a bending and twisting synchronous test, and the specific process is as follows:

3-1, tensioning the bundled cables to be tested to a stretched state, and enabling the tensioning force to reach a preset value;

3-2, electrifying the tested cable until the temperature of the tested cable reaches a stable value C₀Then, synchronously bending and twisting the tested cable in a forward and reverse reciprocating manner;

3-3, when the tension of the cable to be detected is less than 80% of the tension at the moment of starting bending and twisting, detecting the temperature C of the cable to be detected "₁And recording the number of times N of bending and twisting "₀(ii) a Obtaining a bending temperature judgment threshold valueThreshold for judging number of times of bendingN”₁Bending and twisting times of the tested cable until the tested cable is broken;

3-4, measuring the resistance value R of the tested cable "₁Calculating the judgment threshold of the bending resistance

3-5, calculating the final evaluation coefficient of the bending torsionWherein γ ', τ ', and P ' are respectively a bending temperature determination threshold ε ', a bending frequency determination threshold δ ', and a bending resistance determination threshold λ₁"weight of;

final evaluation coefficient eta of bending₃And the final evaluation coefficient eta of torsion₁And final bending evaluation coefficient η'₂And combining, and jointly judging the torsion and bending friction and wear performance of the tested cable under the condition of multi-wire bundle.

4. The multi-wire-bundle spatial torsion/bending frictional wear test method according to claim 3, wherein: after the third step is executed, executing a fourth step; step four is cable testing under the limit condition, and the specific process is as follows: and respectively executing the steps from one to three under the humid environment, the dust environment and the light radiation environment so as to judge the performance of the tested cable under different working environments.

5. A multi-wire-bundle space torsion/bending friction wear testing device comprises a cable torsion fixing component (5), a tension detecting device (2), a cable placing component (3), a temperature sensor (4), a cable bending fixing component (1), a torsion motor (6) and a bending motor (7); the method is characterized in that: the cable twisting fixing components (5) and the cable bending fixing components (1) which are arranged at intervals are both arranged on the bottom plate; the cable placing component (3) is positioned between the cable twisting fixing component (5) and the cable bending fixing component (1); the temperature sensor (4) is arranged on the cable placing component (3) and used for detecting the temperature of the cable passing through the cable placing component (3); the cable twisting fixing component (5) and the cable bending fixing component (1) can clamp cables; the cable twisting fixing component (5) twists the cable under the driving of the twisting motor (6); the cable bending fixing component (1) swings the cable under the driving of the bending motor (7), and the bending of the cable is achieved.

6. The multi-wire-bundle spatial torsion/bending frictional wear test device according to claim 5, wherein: the cable bending fixing component (1) comprises a base plate (1-4), a bending rotating plate (1-3) and a first adjustable fixing component; the vertical base plates (1-4) are fixed on the bottom plate; one end of the bending rotating plate (1-3) and the base plate (1-4) form a rotating pair with a common axis horizontal; the bending motor (7) is fixed on the base plate (1-4), and the output shaft is fixed with the bending rotating plate (1-3); the first adjustable fixing component comprises an adjusting seat (1-5), a lower clamping block (1-2) and an upper clamping block (1-1); the adjusting seat (1-5) is fixed on the bending rotating plate (1-3); waist-shaped holes are formed on the adjusting seats (1-5); the upper clamping block (1-1) and the waist-shaped hole on the adjusting seat (1-5) are fixed through bolts and nuts; the upper clamping block (1-1) is connected with the lower clamping block (1-2); the opposite side surfaces of the upper clamping block (1-1) and the lower clamping block (1-2) are provided with clamping grooves.

7. The multi-wire-bundle spatial torsion/bending frictional wear test device according to claim 5, wherein: the cable placing assembly (3) comprises a bending cross beam (3-1), a mounting rack (3-2) and a cable placing support (3-3); the cable placing bracket (3-3) is fixed on the bottom plate, and the top of the cable placing bracket is provided with a cable placing groove; the mounting rack (3-2) is fixed at the top of the cable placing bracket (3-3); a bending cross beam (3-1) is fixed on the mounting rack (3-2); the bending beam (3-1) is positioned right above the cable placing groove; during testing, the cable penetrates through the cable placing groove and the bending beam (3-1); a detection through hole is formed in the mounting rack (3-2); and a temperature sensor (4) facing the cable placing groove is arranged on the detection through hole.

8. The multi-wire-bundle spatial torsion/bending frictional wear test device according to claim 5, wherein: the cable twisting and fixing assembly (5) comprises a tension sensor (5-1), a first mounting rod (5-2), a connecting support (5-3), a first buncher (5-4), a second mounting rod (5-5), a cable clamp holder (5-6) and a first tightening support (5-7); the connecting support (5-3) is connected with the first tightening support (5-7); one end of the tension sensor (5-1) is fixed with the first tightening support (5-7) through a first mounting rod (5-2), and the other end of the tension sensor is fixed with the cable clamp holder (5-6) through a second mounting rod (5-5); the cable clamp holders (5-6) are in a hoop shape; a first buncher (5-4) is arranged on the first tightening support (5-7); the torsion motor (6) is fixed on the bottom plate, and the output shaft is fixed with the connecting support (5-3).

Background

Due to the rising cost of manpower, and the development of new technologies and new materials, a large number of industrial robots are emerging in our manufacturing industry. And the cable is used as a carrier of power transmission and control capacity of the robot, and is not more important for the industrial robot per se, like the heart of a human. However, in the production process, bending and twisting of the multi-wire harness cable can be easily caused in the high-speed movement process of the industrial robot, which brings severe examination to the service life of the cable, so that a reliable test method is needed to test the wear performance of the high-speed movement cable so as to ensure that the cable can meet the use requirement.

At present, the tests about the abrasion of the robot wire harness and the detection of the abrasion condition of the surface protective sleeve are not many. Patent No. CN103424323A discloses a wire harness bending fatigue testing device. The device uses fastener fixed pencil, and positive and negative circulation is buckled under the output shaft of motor drives to one end to count through controlling means and test fatigue strength. However, the system does not consider the wear of the cable surface and cannot detect the wear of the protective sheath. Patent No. CN206223578 discloses a cable twisting fatigue testing device, which mainly comprises a fixed part, a swinging part and a driving mechanism, wherein the testing method is that the cable swings back and forth under the driving of the swinging part, and the swinging times are recorded by a counter, which can effectively simulate the twisting effect of the cable, but the method cannot detect the abrasion condition when the cable is in bending contact with the cable. Patent No. CN201922388686.7 discloses a cable winding twists reverse test device, comprises pedestal and motor, and direct through the work of control step motor drives the cable and twists reverse when testing, is equipped with proximity sensor simultaneously and detects the number of turns of torsion of count cable, nevertheless can't detect the wearing and tearing condition when buckling the contact between cable and the cable. The above methods do not perform a summary and an overall evaluation and detection on the surface wear degree of the bent and twisted cable, and cannot completely complete the target of the reliability detection of the cable twisting/bending friction wear performance.

Disclosure of Invention

The invention aims to provide a method and a device for testing multi-wire-bundle space torsion/bending friction wear, so as to solve the problems.

In a first aspect, a multi-wire-bundle space torsion/bending friction wear test method specifically comprises the following steps:

step one, single torsion test

And 1-1, tensioning the bundled cables to be tested to a stretched state, and enabling the tensioning force to reach a preset value.

1-2, electrifying the tested cable until the temperature of the tested cable reaches a stable value C₀And then, the tested cable starts to be twisted back and forth.

1-3, when the tension of the tested cable is less than 80% of the tension at the moment of torsion starting, detecting the temperature C of the tested cable₁And recording the current number of times of torsion N₀(ii) a Obtaining a temperature determination thresholdAnd a torsion judgment threshold valueN₁The number of twists of the tested cable until the tested cable is broken is shown.

1-4, measuring the resistance value R of the tested cable₁Calculating a resistance judgment threshold valueR₀The resistance value of the tested cable which is not twisted is shown.

1-5, calculating the final torsion evaluation coefficientγ, τ, and P are weights of the torsion temperature determination threshold, the torsion number determination threshold, and the torsion resistance determination threshold, respectively.

Step two, single bending test

And 2-1, tensioning the bundled cables to be measured to a stretched state, and enabling the tensioning force to reach a preset value.

2-2, electrifying the tested cable until the temperature of the tested cable reaches a stable value C₀And then, the tested cable starts to be bent back and forth.

2-3, when the tension of the tested cable is less than 80% of the tension at the moment of starting torsion, detecting the temperature C of the tested cable₁And recording the current bending times N'₀(ii) a Obtaining a temperature determination thresholdAnd a buckling judgment threshold valueWherein, N'₁The bending times of the tested cable when the tested cable is bent to be damaged are shown.

2-4, measuring the resistance value R 'of the tested cable'₁Calculating a resistance judgment threshold value

2-5, calculating the final evaluation coefficient of bendingγ ', τ ', and P ' are weights of the bending temperature determination threshold, the bending frequency determination threshold, and the bending resistance determination threshold, respectively.

Final evaluation coefficient eta from torsion₁And a final bending evaluation coefficient eta₂And judging the torsion and bending friction and wear performance of the tested cable under the condition of multi-wire bundle.

Preferably, in step 1-2, the torsion speed of the cable to be measured is equal to the average torsion speed of the cable to be measured during use.

Preferably, after steps one and two are performed, step three is performed. Step three is a bending and twisting synchronous test, and the specific process is as follows:

and 3-1, tensioning the bundled cables to be measured to a stretched state, and enabling the tensioning force to reach a preset value.

3-2, electrifying the tested cable until the temperature of the tested cable reaches a stable value C₀And then, synchronously bending and twisting the tested cable in a forward and reverse reciprocating manner.

3-3, when the tension of the cable to be detected is less than 80% of the tension at the moment of starting bending and twisting, detecting the temperature C of the cable to be detected "₁And recording the number of times N of bending and twisting "₀(ii) a Obtaining a bending temperature judgment threshold valueThreshold for judging number of times of bendingN”₁The bending and twisting times of the tested cable until the tested cable is broken are obtained.

3-4, measuring the resistance value R of the tested cable "₁Calculating the judgment threshold of the bending resistance

3-5, calculating the final evaluation coefficient of the bending torsionWherein γ ', τ ', and P ' are respectively a bending temperature determination threshold ε ', a bending frequency determination threshold δ ', and a bending resistance determination threshold λ₁"weight of.

Final evaluation of bendingCoefficient eta₃And the final evaluation coefficient eta of torsion₁And final bending evaluation coefficient η'₂And combining, and jointly judging the torsion and bending friction and wear performance of the tested cable under the condition of multi-wire bundle.

Preferably, after step three is performed, step four is performed. Step four is cable testing under the limit condition, and the specific process is as follows: and respectively executing the steps from one to three under the humid environment, the dust environment and the light radiation environment so as to judge the performance of the tested cable under different working environments.

In a second aspect, the multi-wire-bundle space torsion/bending friction wear testing device comprises a cable torsion fixing assembly, a tension force detecting device, a cable placing assembly, a temperature sensor, a cable bending fixing assembly, a torsion motor and a bending motor. The fixed subassembly is twisted to the cable that the interval set up and the fixed subassembly is all installed on the bottom plate is buckled to the cable. The cable placing assembly is located between the cable twisting fixing assembly and the cable bending fixing assembly. The temperature sensor is installed at the cable placing assembly and used for detecting the temperature of the cable passing through the cable placing assembly. The cable twists reverse fixed subassembly and the cable is buckled fixed subassembly and all can the centre gripping cable. The cable twisting fixing assembly twists the cable under the driving of the twisting motor. The cable is buckled and is fixed subassembly and swing the cable under the drive of the motor of buckling, realizes buckling to the cable.

Preferably, the cable bending and fixing component comprises a base plate, a bending and rotating plate and a first adjustable fixing component. The vertical substrate is fixed on the bottom plate. One end of the bending rotating plate and the base plate form a rotating pair with a common axis horizontal. The bending motor is fixed on the base plate, and the output shaft is fixed with the bending rotating plate. The first adjustable fixing component comprises an adjusting seat, a lower clamping block and an upper clamping block. The adjusting seat is fixed on the bending rotating plate. The adjusting seat is provided with a waist-shaped hole. The upper clamping block and the waist-shaped hole on the adjusting seat are fixed through bolts and nuts. The upper clamping block is connected with the lower clamping block. The opposite side surfaces of the upper clamping block and the lower clamping block are provided with clamping grooves.

Preferably, the cable placing assembly comprises a bending beam, a mounting frame and a cable placing support. The cable placing support is fixed on the bottom plate, and the cable placing groove is formed in the top of the cable placing support. The mounting bracket is fixed at the top of the cable placing bracket. A bending beam is fixed on the mounting frame. The bending beam is positioned right above the cable placing groove. During testing, the cable passes through the cable placing groove and between the bending cross beams. A detection through hole is formed in the mounting frame. And a temperature sensor facing the cable placing groove is arranged on the detection through hole.

Preferably, the cable torsion fixing assembly comprises a tension sensor, a first mounting rod, a connecting support, a first buncher, a second mounting rod, a cable clamp and a first tightening support. The connecting support is fixed with the first tightening support. One end of the tension sensor is fixed with the first tightening support through the first mounting rod, and the other end of the tension sensor is fixed with the cable clamp through the second mounting rod. The cable clamp is in a hoop shape. The first tightening support is provided with a first beam-collecting device. The torsion motor is fixed on the bottom plate, and the output shaft is fixed with the connecting support.

The invention has the beneficial effects that:

1. after the wire harness is tested for multiple times, the abrasion condition of the cable in a high-speed bending and twisting state can be obtained, the times of twisting and the resistance and the temperature of the wire harness before and after twisting are comprehensively analyzed, the abrasion performance of the multi-wire-harness cable is evaluated, and the method has guiding significance for formulating the maintenance and replacement period of the high-speed moving cable.

2. The testing device provided by the invention can be used for measuring the cable which is bent and twisted simultaneously, and can be used for evaluating the wear performance of a multi-wire bundle after multiple tests.

3. The invention can measure the abrasion state of the cable under different severe environments, improves the practicability and the applicability of the invention and is beneficial to the stable operation of the device.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a cable bending and fixing assembly according to the present invention;

FIG. 3 is a schematic structural view of a cable positioning assembly of the present invention;

fig. 4 is a schematic structural view of the cable twisting fixture assembly according to the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in FIG. 1, the multi-wire-bundle space torsion/bending friction wear testing method comprises a testing module and a control module. The testing module comprises a cable twisting fixing component 5, a tension force detecting device 2, a cable placing component 3, a temperature sensor 4, a cable bending fixing component 1, a twisting motor 6 and a bending motor 7. The fixed subassembly 5 is twisted to the cable that the interval set up and the fixed subassembly 1 is buckled to the cable all install on the bottom plate. The cable placing component 3 is located between the cable twisting fixing component 5 and the cable bending fixing component 1. A temperature sensor 4 is mounted to the cable placement assembly 3 for detecting the temperature of the cable passing through the cable placement assembly 3.

The cable bending and fixing component 1 comprises a base plate 1-4, a bending and rotating plate 1-3 and a first adjustable fixing component. The vertical base plates 1-4 are fixed to the bottom plate. One end of the bending rotating plate 1-3 and the base plate 1-4 form a rotating pair with a horizontal common axis. The bending motor 7 is fixed on the base plate 1-4, and the output shaft is fixed with the bending rotating plate 1-3. The first adjustable fixing component comprises an adjusting seat 1-5, a lower clamping block 1-2 and an upper clamping block 1-1. The adjusting seat 1-5 is fixed on the bending rotating plate 1-3. Two waist-shaped holes are arranged on the adjusting seats 1-5. The upper clamping block 1-1 and the waist-shaped hole on the adjusting seat 1-5 are fixed through bolts and nuts. The edges of the two sides of the upper clamping block 1-1 are connected with the edges of the two sides of the lower clamping block 1-2 through bolts. Clamping grooves are formed in the opposite side faces of the upper clamping block 1-1 and the lower clamping block 1-2. After the bolt between the upper clamping block 1-1 and the lower clamping block 1-2 is screwed, the upper clamping block 1-1 and the lower clamping block 1-2 can clamp the cable to be tested.

The cable placing assembly 3 comprises a temperature sensor 4, a bending beam 3-1, a mounting rack 3-2 and a cable placing support 3-3. The cable placing bracket 3-3 is fixed on the bottom plate, and the top of the cable placing bracket is provided with a cable placing groove. The mounting rack 3-2 is fixed on the top of the cable placing bracket 3-3. The mounting frame 3-2 is fixed with a bending beam 3-1. The bending beam 3-1 is positioned right above the cable placing groove. During testing, the cable penetrates through the cable placing groove and the bending beam 3-1. When the bending rotating plate 1-3 is turned over, the cable between the cable twisting fixing component 5 and the cable placing component 3 is bent around the bending beam 3-1. The mounting rack 3-2 is provided with a detection through hole. The temperature sensor 4 facing the cable placing groove is installed on the detection through hole and can detect the temperature change condition of the cable in the twisting and bending processes.

The cable torsion fixing assembly 5 comprises a tension sensor 5-1, a first mounting rod 5-2, a connecting support 5-3, a first buncher 5-4, a second mounting rod 5-5, a cable clamp 5-6 and a first tightening support 5-7. The connecting support 5-3 is fixed with the first tightening support 5-7. One end of the tension sensor 5-1 is fixed with the first tightening support 5-7 through a first mounting rod 5-2, and the other end is fixed with the cable clamp 5-6 through a second mounting rod 5-5. The cable clamp 5-6 is in a hoop shape. The first tightening support 5-7 is provided with a first beam-closing device 5-4. The inner space of the first buncher 5-4 is adjustable, the end part of the cable clamped by the cable clamp 5-6 can be restrained, and the cable end part is prevented from being scattered in torsion. The torsion motor 6 is fixed on the bottom plate, and the output shaft is fixed with the connecting support 5-3, so that the whole cable torsion fixing assembly 5 can be driven to rotate, and the cable can be twisted in a positive and negative alternate mode.

In an initial state, the clamping grooves of the lower clamping blocks 1-2, the cable placing grooves of the cable placing supports 3-3 and the clamping parts on the cable clamps 5-6 are aligned, so that the straightened cables can be fixed on the cable clamps 5-6 after sequentially passing through the clamping grooves and the cable placing grooves.

The testing method of the multi-wiring-beam space torsion/bending friction wear testing device for the robot comprises the following specific steps:

step one, testing the wear performance of a plurality of wire bundles under high-speed torsion

1-1, taking two tested cables, checking whether the cables are intact, sequentially penetrating through the cable bending and fixing component 1 and the cable placing component 3, and fixing the end parts on the cable twisting and fixing component 5.

1-2, adjusting the position of the cable bending fixing component 1 to enable the two cables to be tensioned, wherein the tensioning force measured by the tensioning force sensor 5-1 is T₀。

1-3, to two quiltsThe cable is electrified, and when the temperature of the cable reaches a stable value C₀When the torsion is started, the controller sets the rotating speed V of the torsion motor 6 through the motor driver₀And the two tested cables are twisted alternately in the positive and negative directions, and are twisted mutually in the twisting process. The torsional velocity of the measured cable is taken as V₀。V₀The average torsional velocity of the tested cable during normal use is shown.

1-4, when the tension detected by the tension sensor 5-1 is less than the tension T at the moment of torsion start₀80%, the temperature sensor 4 detects the temperature C of the cable to be measured₁And recording the current number of times of torsion N₀(ii) a Obtaining a torsion temperature determination thresholdAnd a threshold value for judging the number of twistsN₁Twisting the tested cable according to the steps 1 to 3 until the twisting times when the breakage occurs.

1-5, taking down the two tested cables, and detecting the condition of the internal material of the cables by a resistance measurement method to obtain the resistance value R of the cables₁Obtaining a threshold value for judging the torsional resistanceR₀The resistance value is measured by a resistance detection method without twisting the measured cable.

1-6, calculating the final torsion evaluation coefficientGamma, tau and P are respectively weights of preset torsion temperature judgment threshold, torsion frequency judgment threshold and torsion resistance judgment threshold, and the value ranges are 1-1.5, 2-2.5 and 3-4 respectively. If the final evaluation coefficient eta₁And if the torsional qualified coefficient of the cable is larger than the preset torsional qualified coefficient M of the cable, judging that the tested cable meets the high-speed torsional performance test standard.

Step two, carrying out high-speed bending multi-wire harness abrasion performance test

And 2-1, taking two tested cables, checking whether the two tested cables are intact, sequentially penetrating through the cable bending and fixing component 1 and the cable placing component 3, and fixing the end parts on the cable twisting and fixing component 5.

2-2, adjusting the position of the cable bending fixing component 1 to enable the two cables to be tensioned, wherein the tensioning force measured by the tensioning force sensor 5-1 is T₀。

2-3, electrifying the two tested cables, and when the temperature of the tested cables reaches a stable value C₀When the cable is bent, the controller sets the forward and reverse reciprocating rotation of the bending motor 7 through the motor driver, and the two tested cables are repeatedly bent and straightened according to the preset frequency. Rotation speed V of bending motor 7₁The angular velocity at which the cable under test bends during normal use. The bending amplitude of the tested cable is 0-theta.

2-4, detecting the tension of the detected cable by the tension sensor 5-1 every time the detected cable is straightened; if the detected tension is smaller than the tension T at the moment of bending start₀80% of (a), the temperature sensor 4 detects a temperature value C 'at the bent portion of the cable to be measured'₁And recording the number of bending times N'₀Obtaining a bending temperature determination thresholdThreshold for judging number of bending timesWherein N'₁Bending the tested cable according to the steps 2-1 to 2-3 until the tested cable is broken.

2-5, taking down the two tested cables, detecting the condition of the inner material of the cables by a resistance measurement method to obtain the resistance value R 'of the cables'₁Obtaining a judgment threshold value of the bending resistanceR₀The resistance value is measured by a resistance detection method without twisting the measured cable.

2-6, calculating the final evaluation coefficient of bendingGamma ', tau ' and P ' are respectively the weights of a preset bending temperature judgment threshold, a preset bending frequency judgment threshold and a preset bending resistance judgment threshold, and the value ranges are 1-1.5, 2-2.5 and 3-4 respectively. . If the final evaluation coefficient eta₂And if the torsional qualified coefficient of the cable is larger than the preset torsional qualified coefficient N of the cable, judging that the tested cable meets the high-speed bending performance test standard.

Step three, testing the performance of the cable for bending and twisting simultaneously

And 3-1, taking two tested cables, checking whether the two tested cables are intact, sequentially penetrating through the cable bending and fixing component 1 and the cable placing component 3, and fixing the end parts on the cable twisting and fixing component 5.

3-2, adjusting the position of the cable bending fixing component 1 to enable the two cables to be tensioned, wherein the tensioning force measured by the tensioning force sensor 5-1 is T₀。

3-3, electrifying the two tested cables, and when the temperature of the tested cables reaches a stable value C₀The twisting and bending are started synchronously. And the frequencies of torsion and bending are the same. The controller controls the torsion motor 6 and the bending motor 7 to rotate in a forward and reverse reciprocating mode through the motor driver, and two cables to be tested are twisted and bent in a reciprocating mode according to preset frequency. The rotation speed of the torsion motor 6 is the same as in step one. The rotation speed of the bending motor 7 is the same as that of the second step.

3-4, detecting the tension of the detected cable by the tension sensor 5-1 when the detected cable is straightened; if the detected tension is smaller than the tension T at the moment of bending start₀80% of the total amount of the temperature sensor 4, and the temperature value C of the bent part of the cable to be measured "₁And recording the number of times N of bending and twisting "₀(since the frequency of bending and twisting is the same, the number of times of bending and twisting is the same), and the bending temperature determination threshold is obtainedThreshold for judging number of times of bendingN”₁Bending and twisting the tested cable according to the steps 3-1 to 3-3 until the bending and twisting times are reached when the tested cable is broken.

3-5, taking down the two tested cables, detecting the condition of the inner material of the cables by a resistance measurement method to obtain the resistance value R of the cables "₁Obtaining the judgment threshold of the bending resistanceR₀And measuring the resistance value of the untwisted cable to be measured by a resistance detection method.

3-6, calculating the final evaluation coefficient of bendingGamma, tau and P' are respectively a bending temperature determination threshold epsilon, a bending frequency determination threshold delta and a bending resistance determination threshold lambda₁The weight of the' is 1-1.5, 2-2.5 and 3-4 respectively. If the final evaluation coefficient eta₃And if the bending pass coefficient is larger than the preset cable bending pass coefficient Z, judging that the tested cable meets the high-speed bending performance test standard.

Step four, testing the cable under the limiting condition

And 4-1, testing the cable by placing the device in a humid environment, and repeatedly executing the first step, the second step and the third step to evaluate the comprehensive performance of the cable.

And 4-2, testing the cable by placing the device in a dust environment, and repeatedly executing the first step, the second step and the third step to evaluate the comprehensive performance of the cable.

And 4-3, testing the cable under the light radiation condition, and repeatedly executing the first step, the second step and the third step to evaluate the comprehensive performance of the cable. Through the evaluation of the final evaluation coefficient of the cable, the high-speed torsion and bending performance of the cable is defined to a certain extent, when the evaluation coefficient is smaller, the cable is easier to wear, meanwhile, the cable under different conditions can be evaluated, and the industrial robot can be helped to select the optimal wire harness type under the theoretical condition, so that the industrial robot can exert the optimal performance in operation.