A wire tube threading robot for wiring

Abstract

The present invention discloses a wire tube threading robot for wiring, which relates to the technical field of wire tube threading, and comprises an active threading part and a passive threading part, wherein a welding column is connected between the active threading part and the passive threading part, and the active threading part and the passive threading part both comprise a fixed plate, and a fixed rod and a mounting plate on one side of the fixed plate, wherein one side of the fixed plate included in the active threading part is connected with a camera via a connecting rod, and one side of the mounting plate included in the passive threading part is connected with a fixing piece, and further comprises: a fixed support assembly mounted on the outer periphery of the fixed plate, and an adjusting support assembly slidably connected with the fixed plate, wherein one side of the fixed plate is connected with a fixing assembly, and one side of the active threading part is installed with a driving mechanism, so that finally two adjusting support legs and the fixed support legs are gradually changed from a Y-shaped structure to a T-shaped structure, and this design enhances the adaptability of the device to complex wires, reduces the risk of wire damage, and ensures the safety and efficiency of threading.

Description

Technical Field

[0001] The invention relates to the technical field of wire tube threading, and in particular to a wire tube threading robot for wiring. Background Art

[0002] As an indispensable part of electrical engineering, the main function of wire tubes is to provide a safe and orderly laying environment for wires and cables and ensure the stable operation of the electrical system. In this process, threading robots, with their unique advantages, have become an important tool in wiring operations.

[0003] The threading robot, an automated equipment designed specifically for the wiring process, has significantly improved the efficiency of long-distance cable threading through its efficient traction capability, while ensuring the quality of the cables and the safety of operation. Especially when dealing with complex lines, the threading robot has demonstrated its irreplaceable value.

[0004] However, the existing threading robots still have some limitations when facing this challenge. Specifically, when the robot enters the main line pipe from the branch line pipe (i.e., transitions from a single-line pipe to a multi-line pipe), the angles between its three supporting legs often cannot be flexibly adjusted, which may cause the rollers of the supporting legs to directly contact the surface of the line, thereby causing unnecessary squeezing of the line and even the risk of line damage. In addition, when the line pipe is deformed due to external factors, the three supporting legs of the traditional threading robot often adopt a synchronous expansion or contraction adjustment method. This single adjustment strategy is often difficult to effectively cope with the complex line pipe environment, increasing the difficulty of the robot's passage. Summary of the invention

[0005] The purpose of the present invention is to solve the problems that the threading robots in the prior art still have some limitations when facing this challenge. Specifically, when the robot enters the main line pipe from the branch line pipe (i.e., transitions from a single-line pipe to a multi-line pipe), the angles between its three supporting legs often cannot be flexibly adjusted, which may cause the rollers of the supporting legs to directly contact the surface of the line, thereby causing unnecessary squeezing of the line and even the risk of damaging the line. In addition, when the line pipe is deformed due to external factors, the three supporting legs of the traditional threading robot often adopt a synchronous expansion or contraction adjustment method. This single adjustment strategy is often difficult to effectively cope with the complex line pipe environment, which increases the difficulty of the robot passing through, and the proposed solution is proposed.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a wiring conduit threading robot: comprising an active threading part and a passive threading part, a welding column is connected between the active threading part and the passive threading part, the active threading part and the passive threading part both comprise a fixed plate, and a fixed rod and a mounting plate on one side of the fixed plate, one side of the fixed plate included in the active threading part is connected to a camera through a connecting rod, one side of the mounting plate included in the passive threading part is connected to a fixing piece, and further comprising: a fixed support assembly mounted on the outer periphery of the fixed plate, and an adjustment support assembly slidably connected to the fixed plate, one side of the fixed plate is connected to a fixed assembly, and one side of the active threading part is installed with a driving mechanism;

[0007] The fixed support assembly includes a groove formed inside the fixed plate, the inner wall of the groove is fixedly connected to a fixed column, the outer periphery of the fixed column is rotatably connected to a support leg, the support leg is connected to a drive wheel through a drive member on one side, the bottom of the support leg is connected to a first square plate, and a support member is connected between the first square plate and the mounting plate;

[0008] The adjusting support assembly includes two sliding grooves and a limiting groove opened inside the fixed plate, a sliding plate is slidably connected inside the sliding groove, a limiting plate is connected between the sliding plate and the limiting groove, a connecting plate is connected to one side of the sliding plate, two extension blocks are connected to one side of the connecting plate, a positioning rod is fixedly connected between the two extension blocks, a rotating sleeve rod is rotatably connected to the outer periphery of the positioning rod, one side of the rotating sleeve rod is connected to an adjusting support leg through a connecting plate, one end of the adjusting support leg is connected to a roller, one side of the adjusting support leg is connected to a second square plate, a sliding support member is connected between the second square plate and the mounting plate, and a special-shaped plate is connected between the sliding support member included in the active threading part and the sliding plate included in the driven threading part.

[0009] As a further description of the above technical solution:

[0010] The driving member includes a servo motor fixed to one side of the supporting leg through a fixing frame, the output end of the servo motor is connected to a driving bevel gear, the driving bevel gear is connected to the driving wheel through a connecting bevel gear, and the driving bevel gear and the connecting bevel gear are meshingly connected.

[0011] As a further description of the above technical solution:

[0012] The support member includes a first support column installed inside the first square plate, and the first support column has first limit plates connected to the two sides passing through the first square plate. The outer periphery of the first support column is rotatably connected to two first sleeve plates, and the two first sleeve plates are connected to the mounting plate through sleeve columns.

[0013] As a further description of the above technical solution:

[0014] The sliding support member includes a second support column installed inside the second square plate, second limit plates are connected to the second support column on both sides passing through the second square plate, two second sleeve plates are rotatably connected to the outer periphery of the second support column, the two second sleeve plates are rotatably connected to the support column away from the second support column, support plates are fixedly connected to support plates on both sides of the support column, moving blocks are fixedly connected to one side of the two support plates, and the moving blocks are slidably connected to the mounting plate through moving grooves.

[0015] As a further description of the above technical solution:

[0016] The driving mechanism includes two limit blocks and a positioning plate installed on one side of a fixed plate included in the active threading part. An electric push rod is installed on the top of the positioning plate. The top of the electric push rod is slidably connected to the two limit blocks through a pushing block, and two positioning columns are connected to the side of the pushing block close to the fixed plate. One side of the two sliding plates included in the active threading part is connected to a sleeve column, and the sleeve column and the positioning column are connected by a connecting rod.

[0017] As a further description of the above technical solution:

[0018] Adjustment components are installed on both sides of the first square plate and the second square plate, and the adjustment components include openings arranged inside the first limit plate and the second limit plate. Push grooves are opened inside the first square plate and the second square plate, and the first support column and the second support column are slidably connected to the push grooves. Two welding plates are fixedly connected on both sides of the first square plate and the second square plate, and the mounting column is fixedly connected between the two welding plates. The first limit plate and the second limit plate slide on the outer periphery of the mounting column, and a compression spring is sleeved on the outer periphery of the mounting column.

[0019] As a further description of the above technical solution:

[0020] The fixing assembly includes two fixed clamping plates fixedly installed on one side of the fixing plate, and a connecting frame installed on the inner wall of the connecting plate. A central column is fixedly connected between the inner walls of the connecting frame, and the central column is rotatably connected to a clamping block through a torsion spring.

[0021] As a further description of the above technical solution:

[0022] The fixing assembly also includes positioning holes opened in the connecting frame and the clamping block, the bottom of the connecting frame is fixedly connected to the mounting frame, the inner wall of the mounting frame is connected to a telescopic spring, one side of the telescopic spring is connected to a telescopic rod through a pressure plate, an inclined groove is opened on the outer periphery of the telescopic rod, and one side of the fixing plate is connected to an abutting rod abutting the inclined groove.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0024] In the entire threading process, the fixed support assembly and the adjustable support assembly cleverly integrate the flexibility of the adjustable assembly, achieving the dual goals of efficient adaptation and stable threading. When the active threading part and the driven threading part enter the inside of the wire tube, the driving wheel and the roller first come into close contact with the inner wall of the wire tube and are squeezed. This contact force causes the support legs and the adjustable support legs to contract with the fixed column and the positioning rod as the axis. This contraction action not only drives the synchronous movement of the first support column and the second support column, but also causes the first sleeve plate and the second sleeve plate to rotate and slide on the sleeve column and the support column, ensuring the close fit and smooth sliding between the structures.

[0025] In particular, the first limit plate and the second limit plate move smoothly along the mounting column, continuously applying pressure to the compression spring to keep it in a continuous elastic state. The essence of this design is that it uses the resilience of the compression spring to ensure that the driving wheel and the roller can fit closely to the inner wall of the wire tube, thereby significantly enhancing the friction when moving in the wire tube and improving the threading efficiency and stability.

[0026] More importantly, the contraction mechanism of the support legs and the adjustable support legs gives the threading equipment wide adaptability to the inner walls of wire tubes of different sizes. Whether it is large or small diameter, it can easily cope with it, achieving wide compatibility of threading operations;

[0027] In addition, the precise control of the driving mechanism enables the roller and the driving wheel to be flexibly adjusted to a T-shaped layout, which enhances the adaptability of the device to complex wires and reduces the risk of wire damage. This structural optimization ensures that the driving wheel always applies positive pressure to the roller under the continuous rebound of the compression spring, thereby strengthening the friction between the roller and the inner wall of the wire tube, providing a solid guarantee for smooth threading.

[0028] When the wire tube is depressed by external force, both the fixed support component and the adjustable support component can contact and shrink with the depressed part, cleverly utilizing the interaction between the structures to apply additional friction to the drive wheels or rollers on both sides, thereby effectively overcoming the obstacle area in the wire tube and ensuring the continuity and efficiency of the threading operation. This adaptive and friction-enhanced design greatly improves the reliability and practicality of the threading equipment in actual applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Shows a schematic diagram of the overall structure according to the present invention;

[0030] Figure 2 A schematic diagram of the structure of the active threading part according to the present invention is shown;

[0031] Figure 3 It shows a schematic diagram of the disassembly structure of the overall structure according to the present invention;

[0032] Figure 4 A schematic diagram of the disassembled structure of the fixed support assembly according to the present invention is shown;

[0033] Figure 5 A schematic diagram of the disassembled structure of the adjustment support assembly according to the present invention is shown;

[0034] Figure 6 A schematic diagram of the fixing plate structure according to the present invention is shown;

[0035] Figure 7 It is shown that according to the present invention Figure 6 The enlarged schematic diagram at A in the middle;

[0036] Figure 8 A schematic diagram of the disassembled structure of the mounting frame according to the present invention is shown;

[0037] Fig. 9 It is shown that according to the present invention Figure 3 The enlarged schematic diagram of point B in the middle;

[0038] Fig.10 A schematic diagram of an unfolded state according to the present invention is shown.

[0039] Legend:

[0040] 10. Active threading unit; 101. Connecting rod; 102. Camera; 11. Passive threading unit; 111. Fixing piece; 12. Fixing plate; 13. Fixing rod; 14. Mounting plate; 141. Moving groove; 15. Welding column; 16. Special-shaped plate;

[0041] 20. Fixed support assembly; 21. Groove; 211. Fixed column; 212. Support leg; 213. Fixed frame; 214. Servo motor; 215. Driving bevel gear; 216. Connecting bevel gear; 217. Driving wheel; 22. First square plate; 221. First support column; 222. First limit plate; 223. First sleeve plate; 224. Sleeve column;

[0042] 30. Adjust the support assembly; 31. Slide; 311. Limiting groove; 32. Sliding plate; 321. Limiting plate; 33. Connecting plate; 34. Extension block; 341. Positioning rod; 35. Rotating sleeve rod; 36. Connecting plate; 37. Adjust the support leg; 38. Roller; 39. Second square plate; 391. Second support column; 392. Second limiting plate; 393. Second sleeve plate; 394. Support plate; 395. Support column; 396. Moving block;

[0043] 40. Adjustment assembly; 41. Pushing slot; 42. Welding plate; 43. Mounting column; 44. Opening hole; 45. Compression spring;

[0044] 50, fixing assembly; 51, fixing clamping plate; 52, connecting frame; 521, center column; 522, clamping block; 53, positioning hole; 54, mounting frame; 541, telescopic rod; 542, pressing plate; 543, telescopic spring; 544, inclined groove; 545, abutting rod;

[0045] 60. Driving mechanism; 61. Limiting block; 62. Positioning plate; 63. Electric push rod; 64. Pushing block; 65. Positioning column; 66. Connecting rod; 67. Sleeve column. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] like Figure 1-Figure 9 As shown, the present invention provides a wire tube threading robot for wiring: comprising an active threading part 10 and a passive threading part 11, a welding column 15 is connected between the active threading part 10 and the passive threading part 11, the active threading part 10 and the passive threading part 11 both comprise a fixed plate 12, and a fixed rod 13 and a mounting plate 14 on one side of the fixed plate 12, one side of the fixed plate 12 included in the active threading part 10 is connected to a camera 102 through a connecting rod 101, one side of the mounting plate 14 included in the passive threading part 11 is connected to a fixing member 111, and further comprising: a fixed support assembly 20 mounted on the outer periphery of the fixed plate 12, and an adjusting support assembly 30 slidably connected to the fixed plate 12, one side of the fixed plate 12 is connected to a fixed assembly 50, and one side of the active threading part 10 is installed with a driving mechanism 60;

[0048] When performing the wire tube threading operation, the first step is to firmly bind the wire to the driven threading part 11 through the fixing part 111, and then place the active threading part 10 and the driven threading part 11 inside the preset wire tube. At this time, the driving mechanism 60 is started to drive the adjustment support assembly 30 inside the active threading part 10 to move within the limited range of the fixed plate 12. At the same time, through the linkage action of the special-shaped plate 16, the adjustment support assembly 30 in the driven threading part 11 will also move synchronously, thereby ensuring the smoothness and efficiency of the entire threading process.

[0049] like Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the fixed support assembly 20 includes a groove 21 opened inside the fixed plate 12, the inner wall of the groove 21 is fixedly connected with a fixed column 211, the outer periphery of the fixed column 211 is rotatably connected with a support leg 212, the support leg 212 is connected with a driving wheel 217 through a driving member on one side, the driving member includes a servo motor 214 fixed to one side of the support leg 212 through a fixing frame 213, the output end of the servo motor 214 is connected with a driving bevel gear 215, the driving bevel gear 215 and the driving wheel 217 are connected through a connecting bevel gear 216, and the driving bevel gear 215 and the connecting bevel gear 216 are meshingly connected. The bottom of the support leg 212 is connected to a first square plate 22, and a support member is connected between the first square plate 22 and the mounting plate 14. The support member includes a first support column 221 installed inside the first square plate 22, and first limit plates 222 are connected to the first square plate 22 on both sides of the first support column 221. The outer periphery of the first support column 221 is rotatably connected to two first sleeve plates 223, and the two first sleeve plates 223 are connected to the mounting plate 14 through a sleeve column 224. The center of the fixed column 211 and the two positioning rods 341 are on a circle line, and the center of the sleeve column 224 and the two support columns 395 are also on a circle line;

[0050] After placing the active threading part 10 and the driven threading part 11 inside the wire tube, the servo motor 214 is started next. The operation of the servo motor 214 drives the driving bevel gear 215 to start rotating. This rotation action in turn drives the connecting bevel gear 216 meshing therewith to rotate synchronously. As the connecting bevel gear 216 rotates, it further drives the driving wheel 217 to rotate. During the rotation process, the driving wheel 217 generates sufficient friction with the inner wall of the wire tube. This friction acts as a driving force to push the active threading part 10 and the driven threading part 11 to move smoothly and effectively inside the wire tube.

[0051] like Figure 1 , Figure 2 , Figure 3 , Fig. 9 As shown, the driving mechanism 60 includes two limit blocks 61 and a positioning plate 62 installed on one side of the fixed plate 12 included in the active threading part 10, an electric push rod 63 is installed on the top of the positioning plate 62, the top of the electric push rod 63 is slidably connected to the two limit blocks 61 through a push block 64, and the push block 64 is connected to two positioning columns 65 on one side close to the fixed plate 12, and a sleeve column 67 is connected to one side of the two sliding plates 32 included in the active threading part 10, and the sleeve column 67 and the positioning column 65 are connected by a connecting rod 66;

[0052] During operation, when the camera 102 captures an image of an increasing number of wires in the wire tube, the electric push rod 63 is started. The activation of the electric push rod 63 causes the push block 64 to slide smoothly between the two preset limit blocks 61. This sliding action ensures the precise movement of the push block 64 on the specified path. As the push block 64 gradually moves, the two positioning columns 65 connected to it also rise synchronously. This rising action further triggers the mechanical linkage of the connecting rod 66, so that the sliding plate 32 connected to the sleeve column 67 slides smoothly in the pre-designed slide groove 31. During the whole process, the coordinated operation of the various components not only ensures the stability of the operation, but also realizes real-time adjustment and response to the wire threading status in the wire tube.

[0053] like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 As shown, the adjustable support assembly 30 includes two slide grooves 31 and a limiting groove 311 opened inside the fixed plate 12, the slide groove 31 is slidably connected with a sliding plate 32, a limiting plate 321 is connected between the sliding plate 32 and the limiting groove 311, one side of the sliding plate 32 is connected with a connecting plate 33, one side of the connecting plate 33 is connected with two extension blocks 34, a positioning rod 341 is fixedly connected between the two extension blocks 34, the outer periphery of the positioning rod 341 is rotatably connected with a rotating sleeve rod 35, one side of the rotating sleeve rod 35 is connected with an adjusting support leg 37 through a connecting plate 36, one end of the adjusting support leg 37 is connected with a roller 38, one side of the adjusting support leg 37 is connected with a second square plate 39, and a sliding connection is connected between the second square plate 39 and the mounting plate 14. The dynamic support member and the sliding support member include a second support column 391 installed inside the second square plate 39, and the second support column 391 is connected to the second limit plate 392 on both sides of the second support column 391 through the second square plate 39, and the outer periphery of the second support column 391 is rotatably connected to two second sleeve plates 393, and the two second sleeve plates 393 are rotatably connected to the support column 395 away from the second support column 391, and the two sides of the support column 395 are fixedly connected to the support plates 394, and one side of the two support plates 394 is fixedly connected to the moving block 396, and the moving block 396 is slidably connected to the mounting plate 14 through the moving groove 141, and the moving block 396 included in the active threading part 10 and the sliding plate 32 included in the driven threading part 11 are connected to the special-shaped plate 16;

[0054] When the sliding plate 32 slides smoothly along the slide groove 31, the limiting plate 321 also slides along the path of the limiting groove 311, ensuring the stability and directionality of the entire structure. This sliding process not only drives the synchronous movement of the connecting plate 33 and the two extension blocks 34 connected thereto, but also further triggers the linkage of the positioning rod 341 and the connecting plate 36 connected to the rotating sleeve rod 35. With the smooth movement of the connecting plate 36, the adjusting support leg 37 also moves accordingly, forming a dynamic structural change.

[0055] In this process, the movement of the second square plate 39 directly pulls the second support column 391 and the second sleeve plate 393 to move synchronously. This chain reaction continues to be transmitted, driving the support column 395 and the moving block 396 connected through the support plate 394 to slide smoothly in the moving groove 141 in the mounting plate 14. This series of complex mechanical linkages ultimately realizes the gradual change of the structural form between the two adjustable support legs 37 and the original support legs 212, gradually changing from the initial Y-shaped structure to a T-shaped structure.

[0056] This ingenious change in structural design not only effectively improves the adaptability of the device in complex wiring environments, but also greatly reduces the risk of multiple wires being accidentally squeezed or damaged, ensuring the safety and efficiency of the threading process.

[0057] like Figure 1 , Figure 3 , Figure 6 , Figure 7 , Figure 8 As shown, the fixing assembly 50 includes two fixed clamping plates 51 fixedly installed on one side of the fixing plate 12, and a connecting frame 52 installed on the inner wall of the connecting plate 33, a center column 521 is fixedly connected between the inner walls of the connecting frame 52, and the center column 521 is rotatably connected to the clamping block 522 through a torsion spring; the fixing assembly 50 also includes a positioning hole 53 opened in the connecting frame 52 and the clamping block 522, a mounting frame 54 is fixedly connected to the bottom of the connecting frame 52, a telescopic spring 543 is connected to the inner wall of the mounting frame 54, one side of the telescopic spring 543 is connected to a telescopic rod 541 through a pressing plate 542, an inclined groove 544 is opened on the outer periphery of the telescopic rod 541, and an abutting rod 545 abutting against the inclined groove 544 is connected to one side of the fixing plate 12;

[0058] As the connecting plate 33 continues to move, the clamping block 522 will come into contact with the fixed clamping plate 51 and be squeezed. During this process, the clamping block 522 rotates with the central column 521 as the rotation center, and compresses the internal torsion spring, so that it does not form a clamping connection with the fixed clamping plate 51. When the connecting plate 33 stops moving, the clamping block 522 will naturally rotate to contact one side of the connecting frame 52. At this time, under the action of the restoring force of the torsion spring, the clamping block 522 will re-form a clamping connection with the fixed clamping plate 51, effectively enhancing the overall stability of the adjustable support assembly 30 and preventing it from sliding down.

[0059] When the two adjustment support assemblies 30 are adjusted to the maximum angle, that is, to form a T-shaped structure together with the fixed support assembly 20, the clamping block 522 will be tightly abutted against the longest clamping plate in the fixed clamping plate 51. At this time, the clamping block 522 rotates again with the central column 521 as the center and squeezes the telescopic rod 541. After being pressed, the telescopic rod 541 will drive the pressure plate 542 to compress the internal telescopic spring 543. As the positioning hole 53 opened on the clamping block 522 and the positioning hole 53 on the connecting frame 52 are completely overlapped, the telescopic spring 543 rebounds quickly, pushing the pressure plate 542 and the telescopic rod 541 to quickly enter the clamping block 522, thereby achieving a firm fixation of the clamping block 522.

[0060] When the active threading part 10 and the driven threading part 11 complete the threading task and move out of the wire tube, the two adjustment support assemblies 30 will automatically return to their initial positions by retracting the electric push rod 63. During this resetting process, the telescopic rod 541 will first contact the abutment rod 545 through the inclined groove 544 and be pushed downward, causing the telescopic rod 541 to descend. As the telescopic rod 541 descends, its fixing effect on the clamping block 522 is released. At this time, under the action of the torsion spring, the clamping block 522 quickly rebounds to its original position, preparing for the next adjustment and fixing operation.

[0061] like Figure 1 , Figure 2 , Figure 4 As shown, adjustment components 40 are installed on both sides of the first square plate 22 and the second square plate 39, and the adjustment components 40 include openings 44 arranged inside the first limiting plate 222 and the second limiting plate 392. Pushing grooves 41 are opened inside the first square plate 22 and the second square plate 39, and the first support column 221 and the second support column 391 are slidably connected to the pushing grooves 41. Two welding plates 42 are fixedly connected on both sides of the first square plate 22 and the second square plate 39, and a mounting column 43 is fixedly connected between the two welding plates 42. The first limiting plate 222 and the second limiting plate 392 are slid on the outer periphery of the mounting column 43, and a compression spring 45 is sleeved on the outer periphery of the mounting column 43.

[0062] During the entire threading process, the fixed support assembly 20 and the adjustable support assembly 30 both cleverly integrate the function of the adjusting assembly 40. When the active threading part 10 and the driven threading part 11 are introduced into the wire tube, the driving wheel 217 and the roller 38 first contact and are squeezed with the inner wall of the wire tube. This squeezing force causes the support leg 212 and the adjustable support leg 37 to perform corresponding contraction actions with the fixed column 211 and the positioning rod 341 as the center of the circle. As the support leg 212 and the adjustable support leg 37 contract, the first support column 221 and the second support column 391 are squeezed by the support leg 212 and the adjustable support leg 37, causing the first sleeve plate 223 and the second sleeve plate 393 to rotate with the sleeve column 224 and the support column 395 as the center. This rotation action further promotes the first support column 221 and the second support column 391 to slide smoothly in the push groove 41 opened in the first square plate 22 and the second square plate 39.

[0063] While the first support column 221 and the second support column 391 are sliding, the first limit plate 222 and the second limit plate 392 also move smoothly along the outer circumference of the mounting column 43. During this process, pressure is continuously applied to the compression spring 45 to keep it in a continuously squeezed state. This design ensures that the driving wheel 217 and the roller 38 can fit closely to the inner wall of the wire tube under the action of the rebound force of the compression spring 45, thereby enhancing the friction when moving in the wire tube and improving the threading efficiency and stability.

[0064] As the support legs 212 and the adjustment support legs 37 shrink, the active threading portion 10 and the passive threading portion 11 can adapt to the inner walls of wire tubes of different sizes, making it convenient to thread wire tubes of different diameters.

[0065] In addition, the precise control of the driving mechanism 60 enables the two rollers 38 and the driving wheel 217 to be flexibly adjusted to a T-shaped structure. Since the driving wheel 217 is always subject to the rebound effect of the compression spring 45, it can continuously apply positive pressure to the rollers 38 in the straight state, thereby increasing the friction between the rollers 38 and the inner wall of the wire tube, providing a strong guarantee for the smooth movement of the inner wall of the wire tube.

[0066] When the wire tube is deformed inward due to external force, whether the fixed support assembly 20 or the adjustable support assembly 30 contacts the depression and contracts, additional pressure is applied to the drive wheels 217 or rollers 38 on the other two sides through the interaction between the structures. This design cleverly enhances the friction between the drive wheels 217 or rollers 38 and the inner wall of the wire tube, allowing the threading equipment to pass through difficult areas in the wire tube more easily, ensuring the smooth progress of the threading operation.

[0067] Working principle: After placing the active threading unit 10 and the driven threading unit 11 in the wire tube, start the servo motor 214, and its power is transmitted to the driving wheel 217 through the driving bevel gear 215 and the connecting bevel gear 216. The friction force generated by the rotation of the driving wheel 217 pushes the active threading unit 10 and the driven threading unit 11 to move smoothly in the wire tube;

[0068] When the camera 102 detects that the number of wires in the wire tube increases, the electric push rod 63 is activated, and the push block 64 slides between the limit blocks 61, driving the positioning column 65 to rise, and the sliding plate 32 moves in the slide groove 31 through the mechanical linkage of the connecting rod 66 and the sleeve column 67. During this process, the limiting plate 321 slides along the limit groove 311 to ensure stability, and at the same time drives the connecting plate 33, the extension block 34 and the connecting plate 36 to move, thereby adjusting the position of the support leg 37;

[0069] As the position of the adjustable support leg 37 changes, the second square plate 39 is driven to move, and the second support column 391, the second socket plate 393, the support column 395 and the moving block 396 slide in coordination in the mounting plate 14, and finally the two adjustable support legs 37 and the fixed support leg 212 gradually change from a Y-shaped structure to a T-shaped structure. This design enhances the adaptability of the device to complex wires, reduces the risk of wire damage, and ensures the safety and efficiency of threading.

[0070] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A wire conduit threading robot for wiring, comprising an active threading unit (10) and a passive threading unit (11), wherein a welding column (15) is connected between the active threading unit (10) and the passive threading unit (11), wherein the active threading unit (10) and the passive threading unit (11) both comprise a fixing plate (12), and a fixing rod (13) and a mounting plate (14) on one side of the fixing plate (12), wherein one side of the fixing plate (12) included in the active threading unit (10) is connected to a camera (102) via a connecting rod (101), and one side of the mounting plate (14) included in the passive threading unit (11) is connected to a fixing member (111), wherein: Also includes: A fixed support assembly (20) mounted on the outer periphery of the fixed plate (12), and an adjustable support assembly (30) slidably connected to the fixed plate (12), a fixed assembly (50) being connected to one side of the fixed plate (12), and a driving mechanism (60) being installed on one side of the active threading portion (10); The fixed support assembly (20) comprises a groove (21) formed inside the fixed plate (12); a fixed column (211) is fixedly connected to the inner wall of the groove (21); a support leg (212) is rotatably connected to the outer periphery of the fixed column (211); the support leg (212) is connected to a drive wheel (217) via a drive member on one side; the bottom of the support leg (212) is connected to a first square plate (22); and a support member is connected between the first square plate (22) and the mounting plate (14); The adjustment support assembly (30) comprises two slide grooves (31) and a limit groove (311) provided inside the fixed plate (12); a sliding plate (32) is slidably connected inside the slide groove (31); a limit plate (321) is connected between the sliding plate (32) and the limit groove (311); a connecting plate (33) is connected to one side of the sliding plate (32); two extension blocks (34) are connected to one side of the connecting plate (33); a positioning rod (341) is fixedly connected between the two extension blocks (34); an outer portion of the positioning rod (341) is connected to the outer portion of the positioning rod (341); A rotating sleeve rod (35) is rotatably connected to the rotating sleeve rod (35), one side of the rotating sleeve rod (35) is connected to an adjusting support leg (37) via a connecting plate (36), one end of the adjusting support leg (37) is connected to a roller (38), one side of the adjusting support leg (37) is connected to a second square plate (39), a sliding support member is connected between the second square plate (39) and the mounting plate (14), and a special-shaped plate (16) is connected between the sliding support member included in the active threading portion (10) and the sliding plate (32) included in the driven threading portion (11); The sliding support member comprises a second support column (391) installed inside the second square plate (39); the second support column (391) has two sides extending through the second square plate (39) and connected to second limit plates (392); the outer periphery of the second support column (391) is rotatably connected to two second sleeve plates (393); the two second sleeve plates (393) are rotatably connected to a support column (395) away from the second support column (391); the support columns (395) are fixedly connected to support plates (394) on both sides; one side of the two support plates (394) is fixedly connected to a moving block (396); and the moving block (396) is slidably connected to the mounting plate (14) via a moving groove (141); The driving mechanism (60) comprises two limit blocks (61) and a positioning plate (62) installed on one side of a fixed plate (12) included in the active threading part (10); an electric push rod (63) is installed on the top of the positioning plate (62); the top of the electric push rod (63) is slidably connected to the two limit blocks (61) via a push block (64); and the side of the push block (64) close to the fixed plate (12) is connected to two positioning columns (65); one side of the two sliding plates (32) included in the active threading part (10) is connected to a sleeve column (67); and the sleeve column (67) and the positioning column (65) are connected via a connecting rod (66).

2. A wiring conduit threading robot according to claim 1, characterized in that: The driving member comprises a servo motor (214) fixed to one side of the supporting leg (212) via a fixing frame (213); an output end of the servo motor (214) is connected to a driving bevel gear (215); the driving bevel gear (215) and the driving wheel (217) are connected via a connecting bevel gear (216); and the driving bevel gear (215) and the connecting bevel gear (216) are meshingly connected.

3. A wiring conduit threading robot according to claim 2, characterized in that: The support member comprises a first support column (221) installed inside the first square plate (22); two sides of the first support column (221) pass through the first square plate (22) and are connected to first limit plates (222); the outer periphery of the first support column (221) is rotatably connected to two first sleeve plates (223); the two first sleeve plates (223) are connected to the mounting plate (14) via sleeve columns (224).

4. A wiring conduit threading robot according to claim 1, characterized in that: Adjustment components (40) are installed on both sides of the first square plate (22) and the second square plate (39). The adjustment components (40) include openings (44) arranged inside the first limit plate (222) and the second limit plate (392). Push grooves (41) are opened inside the first square plate (22) and the second square plate (39). The first support column (221) and the second support column (391) are slidably connected to the push grooves (41). Two welding plates (42) are fixedly connected to both sides of the first square plate (22) and the second square plate (39). A mounting column (43) is fixedly connected between the two welding plates (42). The first limit plate (222) and the second limit plate (392) slide on the outer periphery of the mounting column (43). A compression spring (45) is sleeved on the outer periphery of the mounting column (43).

5. A wiring conduit threading robot according to claim 1, characterized in that: The fixing assembly (50) comprises two fixing clamping plates (51) fixedly mounted on one side of the fixing plate (12), and a connecting frame (52) mounted on the inner wall of the connecting plate (33), a central column (521) being fixedly connected between the inner walls of the connecting frame (52), and the central column (521) being rotatably connected to a clamping block (522) via a torsion spring.

6. A wiring conduit threading robot according to claim 5, characterized in that: The fixing assembly (50) further comprises a positioning hole (53) formed inside the connecting frame (52) and the clamping block (522); the bottom of the connecting frame (52) is fixedly connected to a mounting frame (54); the inner wall of the mounting frame (54) is connected to a telescopic spring (543); one side of the telescopic spring (543) is connected to a telescopic rod (541) via a pressure plate (542); an inclined groove (544) is formed on the outer periphery of the telescopic rod (541); and one side of the fixing plate (12) is connected to an abutting rod (545) abutting against the inclined groove (544).

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