Flexible energy supply in a confined space for dynamic X-ray robots

A cable guide was to be developed for this medical X-ray system based on a robot. In addition to a robot for patient positioning, the X-ray robot is part of a complete system for cancer therapy using particle beams from Siemens. The robot is suspended from the ceiling and guides an X-ray C-sag. Due to the limited ceiling height, the base frame of the robot was removed. The robot's energy supply system and the X-ray components were raised so that the robot's range of movement was not restricted but the installation height was reduced to a minimum. Care had to be taken to ensure that the outer diameter was kept as small as possible so that there was no collision between the robot and the cable guide. The cable guide had to be designed for a variety of media.

The pioneering approach was the use of a twisterchain® of type 4008.15.250/850, which is not used with a stationary lower drum and moving upper drum as is usually the case. Because the robot is mounted on the ceiling, the twister chain is used with a stationary upper run and moving lower run. The support of the chain with a rotation range of +/-100 degrees must therefore be moved along with the upper run. Another special feature is that two reverse chains are used. This is necessary in order to be able to feed all the necessary media lines through the cable guide. Due to the number of media and cables, the total weight that the robot can hold was exceeded, which meant that the cable guide was designed to be self-supporting so as not to overload the robot.