A cantilever robot welding wire pipe hoisting mechanism
Patent Information
- Application Number
- CN202522212727.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-20
- Publication Date
- 2026-09-15
- Estimated Expiration
- 2035-10-20
AI Technical Summary
[0012]Compared with existing technologies, the advantages and positive effects of this utility model are as follows: The improved design includes an added wire tube lifting mechanism. This mechanism comprises a first wire feeding bracket, a fixed bracket, a second wire feeding bracket, and a third wire feeding bracket. The fixed bracket forms a fixed point in path n, preventing the wire tube from moving during large-scale movements. The first wire feeding bracket smoothly transitions the wire tube from upward to downward movement, completing the first turning point of the path. The first wire feeding bracket feeds the wire tube into the second wire feeding bracket. The second wire feeding bracket receives the wire tube output from the first wire feeding bracket and guides it to the third wire feeding bracket. The existing unnecessary path is transformed into a constrained path n via the fixed bracket, the first wire feeding bracket, the second wire feeding bracket, and the third wire feeding bracket. Wire feeding smoothness is improved, avoiding problems such as jamming and poor wire feeding caused by excessive resistance. The wire tube is constrained throughout the entire path n, preventing entanglement with the welding robot, the horizontal arm, or the column.
Smart Images
Figure CN224750413U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic welding technology, and in particular to a cantilever robot wire tube hoisting mechanism. Background Technology
[0002] Cantilever workstations are key equipment in the automation of large workpiece welding. Their typical structure includes: a column 1, a wire feeder 2 positioned beside the column, a horizontal arm 3 positioned at the top of the column, a movable slide 4 that can move significantly along the slide 4, and a welding robot 5 carried by the slide 4. To reduce the moving load, the wire feeder 51 is usually directly mounted on the welding robot 5. In this structure, after the welding wire is led out from the wire feeder 2 on the ground, it needs to travel a long, unconstrained path to reach the wire feeder 51 and move through space with the robot body 5. To accommodate the range of motion of the welding robot 5, the welding wire must have a slack length, which can cause the wire to sag, interfering with and scraping against the workpiece during actual operation.
[0003] The path of the welding wire tube is shown in the attached figure. Figure 2 As shown in curve m, curve m has the following structural defects: the path lacks support, and curve m merely acts as a flexible rope connecting two endpoints with incompletely synchronized motion states. The wire tube 2 at one end is relatively stationary, while the wire feeder 51 at the other end moves at high speed. The shape of curve m is entirely determined by the instantaneous posture of the welding robot 5. When the welding robot 5 slides a long distance on the horizontal arm 3, or performs large-range rotations and elevations, the disordered wire tube forming curve m is prone to entanglement, hooking, and interference with the horizontal arm 3, the column 1, the welding robot 5, and even itself. This not only limits the range of motion of the welding robot 5, but in severe cases, may cause the welding robot 5 to stop or damage peripheral equipment. The disordered oscillation and twisting of curve m formed by the wire tube will generate sharp bending and friction. The wire feeding resistance will increase, leading to poor wire feeding, jamming, and even scratching of the surface coating.
[0004] In summary, the fundamental problem with existing technologies lies in the lack of a guiding structure for path management of the welding wire tube. This guiding structure needs to accommodate the wide range and high degree of freedom of the welding robot 5, while also requiring smooth, low-resistance, and orderly transmission of the welding wire tube to solve problems such as entanglement and wire jamming caused by disordered wire tube transport. Utility Model Content
[0005] The purpose of this invention is to provide a guiding structure for managing the path of welding wire tubes. This guiding structure needs to accommodate the wide range and high degree of freedom of movement of the welding robot 5, while also requiring stable, low-resistance, and orderly transmission of the welding wire tubes to solve problems such as entanglement and wire jamming caused by disordered feeding of the welding wire tubes.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: a cantilever robot wire tube hoisting mechanism, wherein the cantilever robot includes a column, a wire barrel disposed beside the column, a horizontal arm disposed at the top of the column, a movable slide that can move significantly along the horizontal arm, a welding robot carried by the movable slide, and a wire feeder mounted on the welding robot. The wire tube hoisting mechanism includes a fixed bracket for guiding the wire tube through, a first wire feeder, a second wire feeder, and a third wire feeder. The fixed bracket is fixed to the side of the horizontal arm and located at the end of the wire barrel. The first wire feeder is disposed at the top of the horizontal arm and located above the fixed bracket. The second wire feeder is disposed on the side of the horizontal arm and located below the first wire feeder on both sides, respectively, along with the fixed bracket. The third wire feeder is fixed to one side of the movable slide and adjacent to the wire feeder. After the wire tube is led out from the wire barrel, it sequentially passes through the fixed bracket, the first wire feeder, the second wire feeder, and the third wire feeder to form a constrained path to reach the wire feeder.
[0007] Preferably, the fixed bracket includes a first support rod connected to the cross arm and a wire threading part disposed at the end of the first support rod, wherein the wire threading part is provided with a reserved through hole for passing through the welding wire tube.
[0008] Preferably, the first wire feeding bracket includes a T-shaped bracket fixed to the top of the cross arm. A first balance hanger and a second balance hanger are respectively provided on both sides of the T-shaped bracket. A first roller bracket and a second roller bracket are respectively connected to the first balance hanger and the second balance hanger. A first roller bracket, a second roller, and a third roller for changing the direction of the welding wire tube are provided on both the first roller bracket and the second roller bracket.
[0009] Preferably, the second wire feeding bracket includes a second support rod connected to the cross arm and a double roller bracket disposed at the end of the cross arm. A fourth roller and a fifth roller are arranged side by side on the double roller bracket, and a guide groove for the welding wire tube to pass through is formed between the fourth roller and the fifth roller.
[0010] Preferably, the third wire feeding bracket includes a third mounting plate and a fourth mounting plate connected to the side of the moving slide. A sixth roller and a seventh roller are arranged in parallel between the third mounting plate and the fourth mounting plate. The sixth roller and the seventh roller are used to guide the welding wire tube to the inlet of the wire feeder.
[0011] Preferably, the first and second balancers are spring balancers.
[0012] Compared with existing technologies, the advantages and positive effects of this utility model are as follows: The improved design includes an added wire tube lifting mechanism. This mechanism comprises a first wire feeding bracket, a fixed bracket, a second wire feeding bracket, and a third wire feeding bracket. The fixed bracket forms a fixed point in path n, preventing the wire tube from moving during large-scale movements. The first wire feeding bracket smoothly transitions the wire tube from upward to downward movement, completing the first turning point of the path. The first wire feeding bracket feeds the wire tube into the second wire feeding bracket. The second wire feeding bracket receives the wire tube output from the first wire feeding bracket and guides it to the third wire feeding bracket. The existing unnecessary path is transformed into a constrained path n via the fixed bracket, the first wire feeding bracket, the second wire feeding bracket, and the third wire feeding bracket. Wire feeding smoothness is improved, avoiding problems such as jamming and poor wire feeding caused by excessive resistance. The wire tube is constrained throughout the entire path n, preventing entanglement with the welding robot, the horizontal arm, or the column. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of the wire tube path of a cantilever robot in the background art. Figure 2 A three-dimensional structural diagram of a cantilever robot wire tube hoisting mechanism is provided for this utility model; Figure 3 This utility model Figure 2 Enlarged schematic diagram of the fixed bracket at point A; Figure 4 This utility model Figure 2 Schematic diagram of the first wire feeding bracket at point B; Figure 5 This utility model Figure 4 Enlarged schematic diagram of the roller bracket structure; Figure 6 This utility model Figure 2 Enlarged schematic diagram of the second wire feeder at point C; Figure 7 This utility model Figure 2 Enlarged schematic diagram of the third wire feeder at point D; Explanation of reference numerals in the attached drawings: 1. Column; 2. Wire barrel; 3. Cross arm; 4. Moving slide; 5. Welding robot; 51. Wire feeder; 6. Fixed bracket; 61. First mounting plate; 62. First support rod; 63. Wire threading part; 64. Reserved through hole; 7. First wire feeding bracket; 71. T-shaped bracket; 72. First balancer; 73. First roller bracket; 74. Second balancer; 75. Second roller bracket; 76. First roller; 77. Second roller; 78. Third roller; 8. Second wire feeding bracket; 81. Second mounting plate; 82. Second support rod; 83. Double roller bracket; 84. Fourth roller; 85. Fifth roller; 9. Third wire feeding bracket; 91. Third mounting plate; 92. Fourth mounting plate; 93. Sixth roller; 94. Seventh roller. Detailed Implementation
[0014] like Figure 1 The diagram shows the existing wire welding path for a cantilever robot. A wire drum 2 is positioned beside a column 1; a horizontal arm 3 is vertically mounted on top of column 1; a sliding slide 4 is mounted on the horizontal arm 3; a welding robot 5, carried on the sliding slide 4, moves along the horizontal arm 3; a wire feeder 51 is mounted on the welding robot 5; the wire from the wire drum 2 is fed to the wire feeder 51, and the welding robot 5 uses the wire for welding. The existing path from the wire drum 2 to the wire feeder 51 is as follows: Figure 1 As shown by curve m, the path of curve m is prone to tangling and getting stuck.
[0015] To address the problems in the background art, this utility model provides a cantilever robot wire tube lifting mechanism, such as... Figure 2 As shown, the cantilever robot includes a column 1, a wire barrel 2 located beside the column, a horizontal arm 3 horizontally located on top of the column, a movable slide 4 that can move significantly along the horizontal arm, a welding robot 5 carried by the movable slide 4, and a wire feeder 51 mounted on the welding robot 5. The wire tube hoisting mechanism includes a fixed bracket 6 for guiding the wire tube through, a first wire feeder 7, a second wire feeder 8, and a third wire feeder 9. The fixed bracket 6 is fixed to the side of the horizontal arm 3 and located at the end of the wire barrel 2. The first wire feeder 7 is located at the top of the horizontal arm 3 and above the fixed bracket 6. The second wire feeder 8 is located on the side of the horizontal arm 3 and below the first wire feeder 7 on both sides, respectively, along with the fixed bracket 6. The third wire feeder 9 is fixed to one side of the movable slide 4 and adjacent to the wire feeder 51. After the wire tube is led out from the wire barrel 2, it sequentially passes through the fixed bracket 6, the first wire feeder 7, the second wire feeder 8, and the third wire feeder 9 to form a constrained path n to reach the wire feeder 51.
[0016] like Figure 3As shown, the fixed bracket 6 includes a first support rod 62 connected to the cross arm 3 and a wire threading part 63 disposed at the end of the first support rod 62. The wire threading part 63 has a reserved through hole 64 for passing through the welding wire tube. The first support rod 62 is fixed to the cross arm 3 by the first mounting plate 61. The fixed bracket 6 guides the welding wire tube upward into the first wire feeding bracket 7. The first support rod 62 provides support, and the reserved through hole 64 in the upper middle part of the wire threading part 63 constrains the welding wire tube to pass through it. The fixed bracket 6 forms a fixed point in the path n to prevent the welding wire tube from moving during a wide range of movements.
[0017] like Figure 4 , Figure 5 As shown, the first wire feeding bracket 7 includes a T-shaped bracket 71 fixed to the top of the cross arm 3. A first balancing hanger 72 and a second balancing hanger 74 are respectively provided on both sides of the T-shaped bracket 71. A first roller bracket 73 and a second roller bracket 75 are respectively connected to the first balancing hanger 72 and the second balancing hanger 74. Both the first roller bracket 73 and the second roller bracket 75 are equipped with a first roller 76, a second roller 77, and a third roller 78 for changing the direction of the welding wire tube. The T-shaped bracket 71 provides stable support. The first balancing hanger 72 and the second balancing hanger 74 span both sides of the cross arm 3 and are spring balancers. The first roller bracket 73 and the second roller bracket 75 are used to guide the welding wire tubes on both sides of the cross arm 3. The first roller 76, the second roller 77, and the third roller 78 are arranged in an isosceles triangle, with the second roller 77 located at the vertex of the isosceles triangle, smoothly transitioning the welding wire tube from upward movement to downward movement, completing the first turn of path n. The first wire feeder 7 feeds the welding wire tube into the second wire feeder 8.
[0018] like Figure 6 As shown, the second wire feeder 8 includes a second support rod 82 connected to the cross arm 3 and a double roller bracket 83 disposed at the end of the cross arm 3. A fourth roller 84 and a fifth roller 85 are arranged side by side on the double roller bracket 83, and a guide groove for the welding wire tube to pass through is formed between the fourth roller 84 and the fifth roller 85. The second support rod 82 is fixed to the cross arm 3 by a second mounting plate 81. The second wire feeder 8 receives the welding wire tube output from the first wire feeder 7 and leads the welding wire tube to the third wire feeder 9.
[0019] like Figure 7As shown, the third wire feeder 9 includes a third mounting plate 91 and a fourth mounting plate 92 connected to the side of the moving slide 4. A sixth roller 93 and a seventh roller 94 are arranged parallel to each other between the third mounting plate 91 and the fourth mounting plate 92. The sixth roller 93 and the seventh roller 94 guide the welding wire tube to the inlet of the wire feeder 51. The third wire feeder 9 ensures that the welding wire tube enters the wire feeder 51 accurately and smoothly. The sixth roller 93 and the seventh roller 94 form the final guide along path n, ensuring that the welding wire tube enters the wire feeder 51 at the optimal incident angle, reducing feeding resistance and wear. Furthermore, the third wire feeder 9 is located on the same side of the welding robot 5 as the wire feeder 51, but on the side opposite to the welding head, avoiding entanglement.
[0020] The improved design includes a wire tube hoisting mechanism. This cantilever robot wire tube hoisting mechanism comprises a first wire feeding bracket 7, a fixed bracket 6, a second wire feeding bracket 8, and a third wire feeding bracket 9. The fixed bracket 6 includes a first mounting plate 61, a first support rod 62, a wire threading part 63, and a pre-drilled through hole 64. The first wire feeding bracket 7 includes a T-shaped bracket 71, a first balancing hanger 72, a first roller bracket 73, a second balancing hanger 74, and a second roller bracket 75. Both the first roller bracket 73 and the second roller bracket 75 are equipped with a first roller 76, a second roller 77, and a third roller 78. The second wire feeding bracket 8 includes a second mounting plate 81, a second support rod 82, a double roller bracket 83, a fourth roller 84, and a fifth roller 85. The third wire feeding bracket 9 includes a third mounting plate 91, a fourth mounting plate 92, a sixth roller 93, and a seventh roller 94. The wire tube hoisting mechanism can guide the wire tube on the wire drum 2 to the wire feeder 51 along a specific path n, preventing tangling, twisting, and knotting caused by the movement of the welding robot 5. This solves the problems of wire tube sagging and interference / scratching with the workpiece in cantilever workstations.
[0021] This invention provides a wire tube lifting mechanism for a cantilever robot. By setting a fixed support 6, a first wire feeding support 7, a second wire feeding support 8, and a third wire feeding support 9 on a cantilever robot with multi-degree-of-freedom motion, a complete wire tube path management structure is formed. This structure, through spatial positioning and multiple roller guidance, transforms the originally disordered and easily tangled wire tube path m into a constrained and predictable path n. The rollers on the first, second, and third wire feeding supports 7, 8, and 9 utilize rolling friction, resulting in low wire feeding resistance. The fixed support 6 acts as a spatial anchor point, ensuring path stability. The third wire feeding support 9 moves with the welding robot 5, solving the problem of length changes caused by the movement of the welding robot 5. This invention eliminates technical problems such as wire tube tangling, knotting, and wire jamming, improving the stability and continuity of the welding process. The design of multiple rollers not only prevents the wire tube from falling but also ensures more stable wire tube extension and contraction during movement after the wire tube passes through the rollers.
Claims
1. A cantilever robot wire tube hoisting mechanism, the cantilever robot comprising a column (1), a wire tube (2) disposed beside the column, a horizontal arm (3) horizontally disposed on the top of the column, a motion slide (4) capable of moving significantly along the horizontal arm, a welding robot (5) carried by the motion slide (4), and a wire feeder (51) mounted on the welding robot (5), characterized in that: The wire tube hoisting mechanism includes a fixed bracket (6), a first wire feeding bracket (7), a second wire feeding bracket (8), and a third wire feeding bracket (9) for guiding the wire tube through. The fixed bracket (6) is fixed to the side of the cross arm (3) and located at the end of the barrel wire (2). The first wire feeding bracket (7) is located at the top of the cross arm (3) and above the fixed bracket (6). The second wire feeding bracket (8) is located on the side of the cross arm (3) and is located below the first wire feeding bracket (7) on both sides of the fixed bracket (6). The third wire feeding bracket (9) is fixed to one side of the moving slide (4) and adjacent to the wire feeder (51). After the wire tube is led out from the barrel wire (2), it passes through the fixed bracket (6), the first wire feeding bracket (7), the second wire feeding bracket (8), and the third wire feeding bracket (9) in sequence to form a constrained path to reach the wire feeder (51).
2. The cantilever robot wire tube hoisting mechanism according to claim 1, characterized in that: The fixed bracket (6) includes a first support rod (62) connected to the cross arm (3) and a wire threading part (63) provided at the end of the first support rod (62). The wire threading part (63) is provided with a reserved through hole (64) for passing through the welding wire tube.
3. The cantilever robot wire tube hoisting mechanism according to claim 1, characterized in that: The first wire feeding bracket (7) includes a T-shaped bracket (71) fixed to the top of the cross arm (3). The T-shaped bracket (71) has a first balance hanger (72) and a second balance hanger (74) on both sides. The first balance hanger (72) and the second balance hanger (74) are respectively connected to the first roller bracket (73) and the second roller bracket (75). The first roller bracket (73) and the second roller bracket (75) are each provided with a first roller (76), a second roller (77) and a third roller (78) for changing the direction of the welding wire tube.
4. The cantilever robot wire tube hoisting mechanism according to claim 1, characterized in that: The second wire feeding bracket (8) includes a second support rod (82) connected to the cross arm (3) and a double roller bracket (83) disposed at the end of the cross arm (3). A fourth roller (84) and a fifth roller (85) are arranged side by side on the double roller bracket (83), and a guide groove for the welding wire tube to pass through is formed between the fourth roller (84) and the fifth roller (85).
5. The cantilever robot wire tube hoisting mechanism according to claim 1, characterized in that: The third wire feeding bracket (9) includes a third mounting plate (91) and a fourth mounting plate (92) connected to the side of the moving slide (4). A sixth roller (93) and a seventh roller (94) are arranged in parallel between the third mounting plate (91) and the fourth mounting plate (92). The sixth roller (93) and the seventh roller (94) are used to guide the welding wire tube to the inlet of the wire feeder (51).
6. The cantilever robot wire tube hoisting mechanism according to claim 1, characterized in that: The first balancer (72) and the second balancer (74) are spring balancers.