Cantilever robot external cable movable hoisting mechanism

Abstract

The utility model relates to cantilever robot technical field, concretely is a kind of cantilever robot external cable movable hoist mechanism, cantilever robot includes stand, cross arm, motion slide and robot body, and motion slide bottom is equipped with external cable outlet;Modeling camera and identification camera are installed on robot body, and the periphery of motion slide is connected with wire unit;Wire unit includes the rigid support frame connected with motion slide and the roller frame slidingly connected relative to rigid support frame;Roller frame is equipped with the threading hole for threading cable, and the cable led out by external cable outlet is respectively introduced into modeling camera and identification camera.Wire unit changes external cable from disordered state into guided orderly state, ensures that cable keeps smooth following without interference under various postures of robot body, reduces cable winding and risk of breakage, guarantees the continuous stability of camera and other precision equipment signal, to ensure the reliability of welding workstation.

Description

Technical Field

[0001] This utility model relates to the field of cantilever robot technology, and in particular to a cantilever robot external cable movable hoisting mechanism. Background Technology

[0002] As a core piece of equipment for automated welding of large workpieces, a cantilever robot typically consists of a column 1 fixed to the ground, a horizontal arm 3 mounted on top of the column, a sliding slide 4 that can slide along tracks such as the first guide rail 31, the second guide rail 32, and the third guide rail 33, and a robot body 5 mounted on the slide. The robot body 5 is equipped with a modeling camera 52 and a recognition camera 53. To improve welding accuracy and intelligence, modern cantilever robots often have auxiliary sensing devices such as the modeling camera 52, the recognition camera 53, or a laser positioner added to the robot's end effector. These devices need to be connected to the control system via dedicated external cables, including power cables, data cables, and control cables. This results in a considerable number of external cables, which are easily broken when the robot body 5 moves if they are haphazardly bundled.

[0003] The current technology for handling these external cables has serious flaws. For example... Figure 2 As shown in paths L1 and L2, the cable typically exits directly from the external cable outlet 41 on top of the robot body 5. The external cable outlet 41 is located at the bottom of the motion slide 4. The cable, after exiting from the external cable outlet 41, is simply bundled with cable ties to form an unconstrained, free-hanging path, directly connecting to the end-effector modeling camera 52 and recognition camera 53. This method makes the cable prone to breakage during robot body 5 movement. When the robot body 5 slides back and forth a long distance on the horizontal arm 3, and its joints perform large-scale, high-speed rotation and lifting movements, the cable swings erratically, making its trajectory unpredictable. Furthermore, the unconstrained cable is highly susceptible to interference, snagging, and entanglement with the robot body 5's own joints, the horizontal arm 3, the column 1, and even other equipment within the workstation, such as welding wire tubes. This restricts the normal operating range of the robot body 5, leading to program interruptions and, in severe cases, triggering an emergency stop signal for the robot body 5. Under continuous twisting and repeated bending, especially near its fixed points such as external cable outlet 41 and equipment interface, the cable will generate great stress; causing the internal core wire to break due to metal fatigue, resulting in signal transmission interruption or power instability.

[0004] In summary, how to guide the movement of camera cables in existing technologies, ensuring their free movement along with the robot body 5 while avoiding interference, snagging, and entanglement between the cables and other structures, is an urgent problem to be solved. Utility Model Content

[0005] The purpose of this invention is to solve the problem of camera cable confinement structure. This structure can ensure that the cable can move freely with the robot body 5, while avoiding interference, snagging and tangling between the cable and other structures.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an external cable hoisting mechanism for a cantilever robot, the cantilever robot including a column, a horizontal arm, a motion slide and a robot body, the bottom of the motion slide is provided with an external cable outlet and the external cable outlet is located above the robot body; a modeling camera and a recognition camera are installed on the robot body, a wire unit is connected to the outer periphery of the motion slide and the wire unit is located above the robot body; the wire unit includes a rigid support frame connected to the motion slide and a roller frame slidably connected relative to the rigid support frame; the roller frame is provided with a wire hole for passing the cable through, the wire hole guides the cable led out of the external cable outlet to the modeling camera and the recognition camera respectively.

[0007] Preferably, the rigid support frame is a U-shaped circular tube frame, with the opening side of the U-shaped circular tube frame facing one side of the horizontal arm.

[0008] Preferably, the roller frame includes a first roller and a second roller, which are located at the upper and lower ends of the rigid support frame, respectively, and are slidably engaged with the rigid support frame. The two ends of the rigid support frame are connected to the moving slide through symmetrically arranged first mounting parts and second mounting parts.

[0009] Preferably, the bottom of the roller frame is connected to a threading part near one end of the robot body. The threading part slides along the U-shaped cylindrical frame with the roller frame, and the threading hole is opened on the threading part.

[0010] Preferably, the outer circumferential surfaces of the first roller and the second roller are provided with annular grooves, which are used to engage with the rigid support frame.

[0011] Preferably, the rigid support frame has a semi-circular or rectangular frame structure in cross-section.

[0012] Compared with existing technologies, the advantages and positive effects of this invention are as follows: This invention forms a protected cable constraint range through a rigid support frame, and combined with the roller frame and the follow-up guidance of the first and second rollers on the roller frame, it achieves orderly cable management: the cable threading part positions the cable outlet through the threading hole. By adding a conductor unit, the external cable is transformed from a disordered state to a guided orderly state, ensuring that the cable follows smoothly and without interference in various postures of the robot body, reducing the risk of cable entanglement and breakage, and extending the service life of the cable; it also ensures the continuous and stable signal of precision equipment such as cameras, thereby ensuring the reliability of the welding workstation. Attached Figure Description

[0013] Figure 1 This utility model provides a schematic diagram of the usage structure of an external cable movable hoisting mechanism for a cantilever robot; Figure 2 This utility model Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram showing the connection between the motion slide and the wire unit of this utility model; Explanation of reference numerals in the attached drawings: 1. Column; 2. Wire barrel; 3. Cross arm; 31. First guide rail; 32. Second guide rail; 33. Third guide rail; 4. Motion slide; 41. External cable outlet; 5. Robot body; 51. Wire feeder; 52. Modeling camera; 53. Recognition camera; 6. Wire unit; 61. Rigid support frame; 62. First mounting part; 63. Second mounting part; 64. Roller frame; 65. First roller; 66. Second roller; 67. Wire threading part; 68. Wire threading hole. Detailed Implementation

[0014] As described in the background art, the original cable exits from the external cable outlet 41 and passes through L1 and L2 to reach the modeling camera 52 and the recognition camera 53 respectively. In this way, the cable is prone to interference, snagging, and tangling with other structures. To solve the above problems, this utility model provides an external cable movable hoisting mechanism for a cantilever robot. The cantilever robot includes a column 1, a horizontal arm 3, a motion slide 4, and a robot body 5. The bottom of the motion slide 4 is provided with an external cable outlet 41, which is located above the robot body 5. The modeling camera 52 and the recognition camera 53 are installed on the robot body 5. During welding, the motion slide 4 carries the robot body 5 and moves along the first guide rail 31, the second guide rail 32, and the third guide rail 33 on the horizontal arm 3. During this process, the wire feeder 51, the modeling camera 52, and the recognition camera 53 installed on the robot body 5 also move together. The cable leading out from the external cable outlet 41 needs to be connected to the modeling camera 52 and the recognition camera 53 for signal transmission and power supply. To address issues of cable interference, snagging, and entanglement, a wire guide unit 6 is connected to the outer periphery of the motion slide 4, and the wire guide unit 6 is located above the robot body 5. The wire guide unit 6 includes a rigid support frame 61 connected to the motion slide 4 and a roller frame 64 slidably connected relative to the rigid support frame 61. The rigid support frame 61 can be a U-shaped cylindrical frame, with its opening facing one side of the horizontal arm 3. The cross-section of the rigid support frame 61 can also be a semi-circular or rectangular frame structure. The rigid support frame 61 provides spatial constraints and acts as a motion guide, serving as the main load-bearing structure for the entire wire guide unit 6. The U-shaped structure creates a protected routing space for the cable and provides sliding guidance for the roller frame 64. The roller frame 64 then moves along the rigid support frame 61 with the robot body 5.

[0015] The roller frame 64 is provided with a cable-passing hole 68 for passing cables through. The cable-passing hole 68 guides the cables leading out of the external cable outlet 41 to the modeling camera 52 and the recognition camera 53, respectively. The roller frame 64 includes a first roller 65 and a second roller 66, which are located at the upper and lower ends of the rigid support frame 61, respectively. The first roller 65 and the second roller 66 are slidably engaged with the rigid support frame 61. The two ends of the rigid support frame 61 are connected to the motion slide 4 through symmetrically arranged first mounting parts 62 and second mounting parts 63, realizing a reliable connection between the wire unit 6 and the motion slide 4, and ensuring greater structural stability of the entire unit under the high-speed movement of the robot body 5. The bottom of the roller frame 64 is connected to a cable-passing part 67 near one end of the robot body 5. The cable-passing part 67 slides along the U-shaped circular tube frame with the roller frame 64, and the cable-passing hole 68 is opened on the cable-passing part 67. The cable-passing hole 68 serves as the exit positioning point of the cable path, suspending and guiding the cable to the modeling camera 52 and the recognition camera 53. The outer circumferential surfaces of the first roller 65 and the second roller 66 are provided with annular grooves, which are used to engage with the rigid support frame 61. The annular grooves and the rigid support frame 61 cooperate to ensure smooth movement without deviation. The first roller 65 and the second roller 66 are arranged vertically to form a stable clamping effect and prevent the roller frame 64 from disengaging from the rigid support frame 61.

[0016] In implementation, the rigid support frame 61 is preferably made of stainless steel round tube bent into a U-shape, and the size of the rigid support frame 61 is determined according to the range of motion of the robot body 5. A roller frame 64 is prepared, and the first roller 65 and the second roller 66 are installed. The first roller 65 and the second roller 66 should be made of wear-resistant nylon or rubber-coated material, and annular grooves are machined on the wheel surface. The cable threading part 67 is made of aluminum alloy, and cable threading holes 68 are precisely machined on it. The diameter of the cable threading hole 68 is determined according to the cable diameter. The first mounting part 62 and the second mounting part 63 are symmetrically screwed onto the bottom surface of the moving slide plate 4 away from the robot body 5. The two ends of the rigid support frame 61 are respectively fixed into the through holes of the first mounting part 62 and the second mounting part 63, ensuring that the U-shaped opening of the rigid support frame 61 faces the direction of the horizontal arm 3. The cable threading part 67 is fixed to the bottom of the roller frame 64, ensuring that it moves with the roller frame 64. The camera cable, extending from the external cable outlet 41, ultimately passes through the threading hole 68 on the threading part 67, connecting to the modeling camera 52 and the recognition camera 53 respectively. After installation, manually push the roller frame 64 along the rigid support frame 61 to check for smooth movement and any jamming. Run the robot body 5 for testing, observing the cable's state under various motion postures of the robot body 5 to ensure no interference or sharp bends. In this embodiment, conventional connection methods such as welding and bolting can be used for each connection part. The sliding connection between the roller frame 64 and the rigid support frame 61 can also be replaced by existing sliding mechanisms such as linear bearings and sliders.

[0017] like Figure 2 As shown, this utility model incorporates a wire guide unit 6 at the motion slide 4. The wire guide unit 6 includes a rigid support frame 61, a first mounting part 62, a second mounting part 63, a roller frame 64, a first roller 65, a second roller 66, a threading part 67, and a threading hole 68. The roller frame 64 serves as a roller motion component, fixing one end of the cable to the roller frame 64 and the other end to the robot body 5. This ensures that the robot body 5 moves, causing the roller frame 64 to follow, preventing the cable from being tangled. The addition of the following roller frame 64 to the external cable prevents tangling and is more aesthetically pleasing. The improved wire guide unit 6 receives the cable exiting from the external cable outlet 41, which then passes through L11 and L22 to reach the modeling camera 52 and the recognition camera 53 respectively, preventing tangling.

[0018] This invention aims to solve the technical problem of tangling, wear, and even breakage of external cables in robots due to disordered movement. The rigid support frame 61 of the wire unit 6 is fixed to the moving slide 4, forming a U-shaped cable constraint space. The roller frame 64 slides relative to the rigid support frame 61 via its first roller 65 and second roller 66, adapting to the movement of the robot body 5 and thus accommodating changes in cable length. The threading part 67 is located at the bottom of the roller frame 64, and the threading hole 68 on the threading part 67 positions the cable outlet. By adding the wire unit 6, the external cable is transformed from a disordered state to a guided, ordered state, ensuring smooth and non-interfering following of the cable in various postures of the robot body 5, reducing the risk of cable tangling and breakage, extending cable lifespan, and ensuring continuous and stable signals from precision equipment such as cameras, thereby guaranteeing the reliability of the welding workstation.

Claims

1. A movable lifting mechanism for an external cable of a cantilever robot, the cantilever robot comprising a column (1), a horizontal arm (3), a motion slide (4), and a robot body (5), wherein the bottom of the motion slide (4) is provided with an external cable outlet (41) and the external cable outlet (41) is located above the robot body (5); a modeling camera (52) and a recognition camera (53) are installed on the robot body (5), characterized in that: The motion slide (4) is connected to a wire unit (6) on its outer periphery. The wire unit (6) is located above the robot body (5). The wire unit (6) includes a rigid support frame (61) connected to the motion slide (4) and a roller frame (64) slidably connected to the rigid support frame (61). The roller frame (64) is provided with a wire hole (68) for passing cables through. The wire hole (68) guides the cables led out from the external cable outlet (41) to the modeling camera (52) and the recognition camera (53) respectively.

2. The cantilever robot external cable movable hoisting mechanism according to claim 1, characterized in that: The rigid support frame (61) is a U-shaped round tube frame, with the opening side of the U-shaped round tube frame facing the side of the cross arm (3).

3. The cantilever robot external cable movable hoisting mechanism according to claim 2, characterized in that: The roller frame (64) includes a first roller (65) and a second roller (66). The first roller (65) and the second roller (66) are located at the upper and lower ends of the rigid support frame (61), respectively. The first roller (65) and the second roller (66) are slidably engaged with the rigid support frame (61). The two ends of the rigid support frame (61) are connected to the moving slide (4) through the symmetrically arranged first mounting part (62) and second mounting part (63).

4. The cantilever robot external cable movable hoisting mechanism according to claim 3, characterized in that: The bottom of the roller frame (64) is connected to a threading part (67) near one end of the robot body (5). The threading part (67) slides along the U-shaped round tube frame with the roller frame (64), and the threading hole (68) is opened on the threading part (67).

5. The cantilever robot external cable movable hoisting mechanism according to claim 4, characterized in that: The outer circumferential surfaces of the first roller (65) and the second roller (66) are provided with annular grooves, which are used to engage with the rigid support frame (61).

6. The cantilever robot external cable movable hoisting mechanism according to claim 1, characterized in that: The rigid support frame (61) has a semi-circular or rectangular frame structure in cross section.

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