CN217271410U

CN217271410U - Holding device for an energy supply line

Info

Publication number: CN217271410U
Application number: CN202122634566.8U
Authority: CN
Inventors: 斯特凡·卡林尔
Original assignee: KUKA Roboter GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2020-10-29
Filing date: 2021-10-29
Publication date: 2022-08-23
Anticipated expiration: 2031-10-29
Also published as: DE202020106187U1

Abstract

A holding device for an energy supply line on a robot arm, having: a hose cuff having an inner cuff wall and an outer cuff wall, the inner cuff wall being configured for securing the hose cuff on an outer peripheral region of the energy supply line, the outer cuff wall comprising a spherical segment-shaped outer bearing surface; a holder having a fastening section and an inner bearing face corresponding to the spherical outer bearing face of the hose cuff, the fastening section being configured for fastening the holder on the robot arm, wherein the outer bearing face of the hose cuff and the inner bearing face of the holder form a ball-and-socket joint such that the hose cuff is pivotably guided in a sliding bearing in the holder, wherein a limiter is configured for limiting a rotational freedom of the ball-and-socket joint formed by the hose cuff and the holder in the longitudinal extension orientation of the energy supply line.

Description

Holding device for an energy supply line

Technical Field

The utility model relates to a holding device that is used for energy supply pipeline on robot arm.

Background

DE 102007007829 a1 describes a holding device for at least one hose package of an industrial robot, which has: a holder for securing the hose package to the industrial robot; a connecting element for connection to a hose pack; a first half-shell and a second half-shell for receiving the connecting element; and a clamp having clamp sections for receiving and securing the first and second half shells, wherein the first and second half shells are each configured with an inner shape corresponding to the outer shape of the connecting element for securing the connecting element in the longitudinal direction of the hose pack and for an oscillating movement of the connecting element.

SUMMERY OF THE UTILITY MODEL

The object of the present invention is to provide a retaining device for an energy supply line on a robot arm, the function of which can be established, in particular also changed, in a simple and reliable manner.

The object of the invention is achieved by a retaining device for an energy supply line on a robot arm, having:

a hose cuff having an inner cuff wall and an outer cuff wall, the inner cuff wall being configured for securing the hose cuff on an outer peripheral region of an energy supply line, the outer cuff wall comprising a spherical segment-shaped outer bearing surface,

a holder having a fastening section and an inner bearing surface corresponding to the spherical outer bearing surface of the hose cuff, the fastening section being configured for fastening the holder on the robot arm, wherein the outer bearing surface of the hose cuff and the inner bearing surface of the holder form a ball-and-socket joint such that the hose cuff is pivotably guided in the holder in a sliding bearing manner,

it is characterized in that

A limiter configured for limiting a rotational degree of freedom of the ball-and-socket joint formed by the hose cuff and the retaining member in the longitudinal extension orientation of the energy supply line.

Holding devices of the type in question are generally used to hold the energy supply line in a defined distance from the robot arm or to allow mobility of the energy supply line only to a certain extent, so that on the one hand small or as few collisions as possible occur between the energy supply line and the robot arm and if there are no collisions a controlled collision occurs, and on the other hand as little tensile and bending stresses as possible are introduced into the energy supply line if the energy supply line is moved together as a result of the movement of the robot arm and the tool guided by the robot arm.

The holding device should in particular position the energy supply line at a predetermined section of the energy supply line in a fixed distance from a specific limb of the robot arm and in this case allow a certain relative pivoting mobility of the energy supply line relative to the robot arm. The positioning of the relevant section of the energy supply line in a fixed distance from the robot arm means that, in cartesian coordinates, the relative position of the relevant section of the energy supply line with respect to the robot arm is rigidly fixed not only in the X direction, in the Y direction, but also in the Z direction. The rigid fixation ensures that the energy supply line as a whole can be guided in the desired distance from the robot arm. The relative pivoting mobility of the energy supply lines is particularly required in order to be able to reduce the dynamic forces acting on the energy supply lines in that the orientation of the longitudinal extent of the energy supply lines can be varied within a defined range. Again expressed in cartesian coordinates, this means that a certain pivoting mobility of the energy supply line can be a rotation about the X-axis, Y-axis and/or Z-axis of a cartesian coordinate system.

It has proven to be advantageous to rotate the energy supply line about its longitudinal extent, i.e. to twist the energy supply line, since this can lead to increased wear on the energy supply line. On the other hand, the pivoting mobility about the two further axes of rotation is particularly advantageous, since the pivoting capability of the energy supply line generally reduces the effective bending stresses and thus can increase the stability of the energy supply line.

An energy supply line is to be understood to mean, in particular, an energy line and/or an energy supply device, which can have lines to a tool connected to the robot arm by a flange, such as an electrical line, a cold and/or hot water line, a fluid and/or a pressure line. The energy supply lines, in particular the energy lines and/or the energy supply devices, can be combined into a single strand or cable bundle and, in particular, sheathed with one or more flexible protective hoses, such as corrugated hoses.

The hose cuff surrounds the energy supply line on the peripheral side and thereby guides the movement of the energy supply line along the robot arm. The hose cuff is supported in a holder to be fastened to the robot arm. The hose sleeve can have a funnel-shaped widening (flare), the open side of which faces the proximal end of the energy supply line or the end facing away from the energy supply line leading to the tool guided by the robot arm.

The hose cuff has an inner cuff wall. The hose cuff is fixed to the outer circumferential region of the energy supply line by means of the inner jacket wall. The inner jacket wall can be adapted to the outer contour of the energy supply line. In particular in the case of a corrugated hose which encloses the energy supply line, the inner jacket wall can be configured in a correspondingly shaped manner. The hose cuff can be designed in two parts and therefore has a first hose cuff half and a second hose cuff half, which, in the assembled state, surround the energy supply line on the circumferential side. The first and second hose cuff halves may be constructed as identical components that are complementary in shape in assembly. The first and second hose cuff halves may be detachably connected to each other, for example by means of bolts.

The hose cuff has a spherical segment shaped outer bearing surface. The hose sleeve is supported on the holder in the manner of a ball joint by means of the spherical outer bearing surface.

The retainer supports the hose cuff. The holder is designed for its fastening to an arm of the robot arm. For this purpose, the holder has a fastening section. The fastening section may comprise an abutment surface configured for placing the holder on a surface of a member of the robot arm. The holder may be detachably bolted to an arm of the robot arm, for example by means of bolts. For this purpose, the fastening section can have at least one hole or other through-opening, through which, for example, a bolt can be passed for screwing the holder onto the arm of the robot arm.

The retaining element has at least one inner bearing surface corresponding to the spherical segment-shaped outer bearing surface of the hose cuff. The inner bearing surface can thus be formed by a concave spherical segment surface adapted to the spherical segment-shaped outer bearing surface. Alternatively, instead of a continuous concave spherical segment surface, it may be sufficient to provide only two circumferential rims as inner bearing surfaces, the inner diameters of which correspond to the spherical radius of the spherical segment-shaped outer bearing surface of the hose sleeve.

The inner bearing surface of the holder and the hose sleeve or the spherical segment-shaped outer bearing surface of the holder and the hose sleeve form a spherical joint. The inner bearing surface of the holder and the spherical segment-shaped outer bearing surface of the hose collar rest against one another in a sliding bearing manner, so that the hose collar is movable, i.e. pivotable or rotatable, relative to the holder in all three rotational degrees of freedom of a cartesian coordinate system, in principle, based only on the ball-and-socket joint. A translational degree of freedom in a cartesian coordinate system is therefore not possible, i.e. not provided, on the basis of ball and socket joints.

The hose cuff is guided pivotably on the holder by means of a ball joint. Pivotability means in this connection a rotational mobility about two rotational axes which are not oriented in the direction of the longitudinal extent of the energy supply line. According to the invention, an additional device is to be provided to prevent rotational mobility in the direction of the longitudinal extent of the energy supply line, or at least to be limited to a greater extent, namely by means of a limiter described in detail below.

The limiter is configured for limiting a rotational degree of freedom of the ball-and-socket joint formed by the hose cuff and the retaining member in the longitudinal extension orientation of the energy supply line. This limitation may mean that this rotational degree of freedom is completely prevented. This complete prevention of the rotational degree of freedom can be made to such an extent that, apart from the manufacturing-related component tolerances of the limiter, a movement of the hose cuff relative to the holder in this rotational degree of freedom is no longer possible or is almost no longer possible. Alternatively, in some cases the limiter may be designed in such a way that it is possible to continue to allow a very small torsional mobility in the desired, predetermined (small) torsional angle range.

The longitudinal extent of the energy supply line is determined by the course of the distal section of the line length, in particular of the energy supply line terminating at the holding device or determined there. Here, the distal end of the energy supply line facing the tool guided by the robot arm can be provided. The rotational degree of freedom oriented in the longitudinal extent of the energy supply line corresponds at least approximately to the course of the line length of the energy supply line. By means of the restrictor, an undesired, uncontrolled, harmful torsion is at least partially kept away from the energy supply line.

The limit stop can be formed by limiting elements which engage in one another in a form-locking manner on the spherical outer bearing surface of the outer sleeve wall of the hose sleeve and on the inner bearing surface of the retaining element.

A particularly compact limiter can be formed by the limiting elements which are arranged on the spherical outer bearing surface of the outer sleeve wall of the hose sleeve and on the inner bearing surface of the retaining element and engage in one another in a form-locking manner. Which acts directly within the ball and socket joint. It has a shape which has no significant influence on the outer contour of the retaining device itself. Different embodiments are possible for the limiting elements to engage in a form-locking manner with one another.

The limiting elements engaging in one another in a form-locking manner can comprise at least one pin which is fastened to the holder and which is directed inwardly toward the hose cuff and at least one groove which is formed in the spherical segment-shaped outer bearing surface of the outer sleeve wall of the hose cuff and which is oriented parallel to the longitudinal extent of the energy supply line and into which the pin of the holder engages.

The groove is oriented parallel to the longitudinal extent of the energy supply line, i.e. the longitudinal extent of the groove, i.e. the greater length relative to its smaller width, is oriented parallel to the longitudinal extent of the energy supply line, i.e. parallel to the axis of rotation that is to be limited, i.e. the axis of torsion. The width of the groove is at most slightly larger than the diameter of the pin. In relation to the diameter of the pin, in some cases a (slightly) greater groove width, it is determined whether the torsional mobility is still possible and, if so, to what extent. The length of the groove determines the magnitude of the pivot angle about the pivot axis perpendicular to the torsion axis.

The retaining element can be designed as a two-part folding clamp with a first folding clamp half and a second folding clamp half, wherein both a first pin is arranged in the first folding clamp half and engages in a first groove of the hose cuff, and a second pin is arranged in the second folding clamp half and engages in a second groove of the hose cuff opposite the first groove.

The positions of the first pin and the first recess and of the second pin and the second recess are coordinated with one another in such a way that their stop angles at least approximately coincide. In this way, the stopping force can be transmitted in a symmetrical manner.

The at least one pin can be detachably mounted in a pin receptacle of the holder in an insertable manner. By the detachable formation of the pin, in particular the first pin and/or the second pin, it is possible, if required, to remove the pin or the pins from the holder and thus to release the torsional mobility of the ball and socket joint. From another point of view, damaged and/or defective pins can be replaced in a simple manner by new pins.

In some cases, the retaining element can be designed as a two-part folding clamp with a first folding clamp half and a second folding clamp half, wherein only the first pin is arranged in the first folding clamp half, the first pin engages in the first groove of the hose sleeve, and the second pin is not arranged in the second folding clamp half. The possibility of dispensing with the second pin may mean that no second recess and no second pin are structurally provided on the holder. However, it can also mean that, in the case of a holder which is structurally designed as two pins and therefore also has a second recess, only the second pin which is possible in principle is removed, i.e. removed. The first folding clamp half may be pivotally connected to the second folding clamp half via a hinge.

The hose cuff can be designed as a two-part hose cuff having a first hose cuff half and a second hose cuff half, wherein the first hose cuff half and the second hose cuff half are designed as identical parts, in each of which a groove is formed. The corresponding groove can thus be formed in the spherical segment-shaped outer bearing surface of the outer sleeve wall of the hose cuff.

The limiting elements engaging in one another in a form-locking manner can comprise at least one pin which is fastened to the hose collar and points outward toward the holder and at least one groove which is formed in the region of the inner bearing surface of the holder and is oriented parallel to the longitudinal extent of the energy supply line and into which the pin of the hose collar engages. This variant embodiment is characterized in this respect in that the pins and grooves are exchanged for the embodiment described here.

The retaining element can be designed as a two-part folding clamp with a first folding clamp half and a second folding clamp half, wherein both a first recess, into which a first pin of the hose cuff engages, is arranged in the first folding clamp half and a second recess, into which a second pin of the hose cuff, which is opposite the first pin, engages, is arranged in the second folding clamp half.

The at least one pin may be detachably mounted in a receiving bore of the hose cuff in a plug-in manner. By the detachable formation of the pin, in particular the first pin and/or the second pin, it is possible, if necessary, to remove the pin or the pins from the hose collar and thus to release the torsional mobility of the ball and socket joint. From another point of view, damaged and/or defective pins can be replaced in a simple manner by new pins.

The hose cuff can be designed as a two-part hose cuff having a first hose cuff half and a second hose cuff half, wherein the first hose cuff half and the second hose cuff half are designed as identical parts in each of which a receiving opening for a pin is formed. In this embodiment, a separate pin is inserted, in particular pressed, into a corresponding receiving hole in the hose clamp half.

Instead of inserting or pressing in separate pins, the hose cuff can be designed as a two-part hose cuff having a first and a second hose cuff half, wherein the first and the second hose cuff half are designed as identical parts, with a projection formed as a pin on their spherical outer bearing surface. This has the advantage that no separate pin is required and the projection can be produced together with the hose cuff half.

The at least one separate pin may be configured as a groove pin with at least one circumferentially widened outer casing wall section.

The at least one pin may be configured as a steel pin.

The hose cuff and/or the retaining element can be designed as a plastic component, in particular as a plastic injection-molded part. In the case of a one-piece construction of the pin or projection with the respective hose cuff half, the pin can also be produced from plastic.

The inner bearing surface of the retainer may comprise a spherical segment shaped inner wall.

Instead of the spherical-segment-shaped inner wall, the inner bearing surface of the holder can be formed by two spaced-apart peripheral rims of the holder, which are supported on the spherical-segment-shaped outer bearing surface of the hose cuff.

The at least one pin of the holding element and/or the at least one pin receiver of the holding element or the at least one recess of the holding element can be arranged in an intermediate space between two spaced-apart peripheral rims of the holding element.

The utility model provides a holding device for energy supply pipeline on robot arm has:

a hose cuff having an inner and an outer jacket wall, the inner jacket wall being configured for fixing the hose cuff on an outer peripheral region of the energy supply line, the outer jacket wall comprising a spherical segment-shaped outer bearing surface,

wherein the limiter is configured for limiting a rotational degree of freedom of the ball-and-socket joint formed by the hose cuff and the retaining member in the longitudinal extension orientation of the energy supply line.

Preferably, the limit stop is formed by limiting elements which engage in one another in a form-locking manner on the outer spherical-segment-shaped bearing surface of the outer sleeve wall of the hose sleeve and on the inner bearing surface of the retaining element.

Preferably, the positively locking limiting elements engaging in one another comprise at least one pin fastened on the holder and pointing inwards towards the hose collar and at least one groove formed in the spherical outer bearing surface of the outer sleeve wall of the hose collar, which groove is oriented parallel to the longitudinal extent of the energy supply line and into which groove the pin of the holder engages.

Preferably, the retaining element is designed as a two-part folding clamp with a first folding clamp half and a second folding clamp half, and a first pin is arranged in the first folding clamp half, which pin engages in a first groove of the hose cuff, and a second pin is arranged in the second folding clamp half, which pin engages in a second groove of the hose cuff opposite the first groove.

Preferably, at least one of the pins is detachably mounted in a pin receptacle of the holder in an insertable manner.

Preferably, the hose cuff is configured as a two-part hose cuff having a first hose cuff half and a second hose cuff half, wherein the first hose cuff half and the second hose cuff half are configured as identical parts, in each of which a groove is formed.

Preferably, the positively locking limiting elements comprise at least one pin which is fastened to the hose collar and points outward toward the holder and at least one groove which is formed in the region of the inner bearing surface of the holder and is oriented parallel to the longitudinal extent of the energy supply line and into which the pin of the hose collar engages.

Preferably, the retaining element is designed as a two-part folding clamp with a first folding clamp half and a second folding clamp half, and a first recess, into which a first pin of the hose loop engages, is arranged in the first folding clamp half, and a second recess, into which a second pin of the hose loop, which is opposite the first pin, engages, is arranged in the second folding clamp half.

Preferably, at least one of the pins is detachably mounted in a plug-in receiving opening of the hose cuff.

Preferably, the hose collar is designed as a two-part hose collar having a first hose collar half and a second hose collar half, wherein the first hose collar half and the second hose collar half are designed as identical parts in which a receiving opening for a pin is formed in each case.

Preferably, the hose cuff is designed as a two-part hose cuff having a first hose cuff half and a second hose cuff half, wherein the first hose cuff half and the second hose cuff half are designed as identical parts, wherein a projection is formed as a pin on the outer bearing surface of their spherical segment shape.

Preferably, at least one of the pins is configured as a groove pin with at least one circumferentially widened outer casing wall section.

Preferably, at least one of the pins is configured as a steel pin.

Preferably, the hose cuff and/or the retaining element are designed as plastic components, in particular as plastic injection-molded parts.

Preferably, the inner bearing surface of the retainer comprises a spherical segment shaped inner wall.

Preferably, the inner bearing surface of the holder is formed by two spaced-apart peripheral rims of the holder, which bear against the spherical segment-shaped outer bearing surface of the hose cuff.

Preferably, at least one of the pins of the holder and/or at least one of the pin receivers of the holder or at least one of the grooves of the holder is arranged in an intermediate space between two spaced-apart peripheral rims of the holder.

Drawings

In the following description, specific embodiments of the present invention are described in detail with reference to the accompanying drawings. The specific features of these exemplary embodiments may represent general features of the invention, regardless of the specific context in which they are mentioned, and may also be considered separately or in further combination.

Wherein:

figure 1 shows a perspective view of an exemplary robot arm with an energy supply line and a holding device therefor,

figure 2 shows a perspective view of a holding device according to the invention,

fig. 3 shows a perspective view of the holding device according to fig. 2, with the folding clamp in the open position,

fig. 4 shows a perspective view of the holding device according to fig. 2 with the folding clamp in the closed position, wherein the upper folding clamp half is shown cut-away to reveal the pin and the groove.

Fig. 5 shows a perspective view of the holding device according to fig. 2 to 4 with the upper folding clamp half removed, but with the pin retained,

fig. 6 shows an enlarged perspective partial view of the region of the retaining device according to fig. 1, which is configured as a limiting element of a pin, wherein the pin and its seat are shown in cross section,

FIG. 7 shows a partial cross-sectional view of the region of the pin of the upper folding clamp half, an

Fig. 8 shows a partial cross-sectional view of a modified embodiment of the upper folding clamp half, in which the individual pins are replaced by shaped projections.

Detailed Description

Fig. 1 shows an industrial robot 1 having a base frame 2, on which base frame 2a swivel frame 3 is rotatably supported about a first vertical axis a1 and is driven in rotation by means of a first drive motor M1. The swing arm 4 is supported on the swivel frame 3 pivotably up and down about a second horizontal axis a2 and is driven to rotate by means of a second drive motor M2. The swing arm 4 carries a robot arm 5, which is configured in this case as a boom 5a, is supported pivotably up and down about a third horizontal axis a3 and is driven in rotation by means of a third drive motor M3. A fourth axis a4 is provided on the boom 5a, which runs in the longitudinal extension of the boom 5a and the hand 7 of the boom 5a is driven in rotation via a fourth drive motor M4. From the hand 7 a first arm 8 and a second arm 9 extend fork-wise forward. The two

arms

8 and 9 carry a support for the free end 10 of the hand 7. The support device defines a fifth axis a5 of the industrial robot 1, about which the hand 7 is pivotably movable by means of a fifth drive motor M5. Additionally, the hand 7 has a sixth axis a6 in order to be able to rotatably drive the fastening flange 11 by means of a sixth drive motor M6.

The cantilever 5a carries an energy supply 12. The energy supply 12 starts behind a crosspiece 13, which is fixedly connected to the boom 5a of the industrial robot 1. From the coupling plate 13 the single line 14 is led to a clamp 15. The clamp 15 is fastened to the housing 18 of the energy supply device 12. The clamp 15 fixedly clamps the single lines 14 and fixes them in a fixed position with respect to the housing 18. The energy supply line 17 of the energy supply device 12 is guided in a U-shaped manner in a housing 18 of the energy supply device 12 under spring bias. In the U-shaped section and on the outlet side downstream of the sliding guide 19 fixed with respect to the housing 18, the individual lines 14 are combined in a common line strand 17, in particular protected by a protective hose 20. The protective hose 20 ends at a holding device 21 according to the invention. The retaining device 21 can be held in a distance from the boom 5a as shown, for example, by means of a hose retainer 22. The hose holder 22 can be fastened to the fastening flange 11 of the industrial robot 1 by means of a two-part collar 23.

A representative example of a holding device 21 for an energy supply line 17 on a robot arm 5 according to the invention is shown in fig. 2 to 6. The retaining device 21 has a hose cuff 30 with an inner sleeve wall 30a, which is configured for fixing the hose cuff 30 in the region of the outer circumference of the energy supply line 17, and an outer sleeve wall 30b, which comprises an outer bearing surface 31 in the form of a spherical segment.

The retaining device 21 furthermore has a retaining element 32 with a fastening section 32c, which is designed for fastening the retaining element 32 on the robot arm 5, and an inner bearing surface 33, which corresponds to the spherical segment-shaped outer bearing surface 31 of the hose cuff 30, wherein the outer bearing surface 31 of the hose cuff 30 and the inner bearing surface 33 of the retaining element 32 form a ball-and-socket joint, so that the hose cuff 30 is pivotably guided in the retaining element 32 in a sliding bearing manner.

The retaining device 21 according to the invention comprises a limiter 34 which is configured to limit the rotational freedom of the ball-and-socket joint formed by the hose cuff 30 and the retaining element 32 in the direction of the longitudinal extension L (fig. 1) of the energy supply line 17.

The limiting means 34 in this exemplary embodiment are formed by limiting elements 35 and 36 which engage in a form-locking manner with one another on the spherical outer bearing surface 31 of the outer sleeve wall 30b of the hose sleeve 30 and on the inner bearing surface 33 of the retaining means 32.

The limiting elements 35 and 36, which engage in one another in a form-locking manner, in the present exemplary embodiment comprise at least one pin 36a, which is fastened to the holder 32 and which is directed inwardly toward the hose cuff 30, and at least one recess 35a, which is formed in the spherical segment-shaped outer bearing surface 31 of the outer sleeve wall 30b of the hose cuff 30 and into which the pin 36a of the holder 32 engages and which is oriented parallel to the longitudinal extent L of the energy supply line 17.

As can be seen in particular in fig. 3, the holding means 32 can be designed as a two-part folding clamp with a first folding clamp half 32a and a second folding clamp half 32b, wherein both a pin 36a, which engages in a groove 35a of the hose sleeve 30, is arranged in the first folding clamp half 32a and a pin, which engages in a groove of the hose sleeve 30 opposite the groove 35a, is arranged in the second folding clamp half 32 b.

As is shown in particular in fig. 4, 6 and 7, at least one pin 36a can be detachably mounted in a plug-in manner in a pin receiver 37 of the holder 32. Alternatively, as shown in fig. 8, limiting element 38 may be formed instead of a pin 36a as a one-piece projection 36b on inner bearing surface 33 of retaining element 32.

The hose cuff 30 is in this exemplary embodiment designed as a two-part hose cuff 30 with a first hose cuff half 30.1 and a second hose cuff half 30.2, wherein the first hose cuff half 30.1 and the second hose cuff half 30.2 are designed as identical parts, in each of which a recess 35a is formed.

As shown in fig. 6 and 7, at least one pin 36a is detachably mounted in a receiving hole (pin receiving portion 37) of the retainer 32 in an insertable manner.

The at least one pin 36a may be in particular configured as a groove pin with at least one circumferential widening section of the outer jacket wall. At least one pin 36a may be configured as a steel pin.

The hose cuff 30 and/or the retaining element 32 can be designed as a plastic component, in particular as a plastic injection-molded part.

The inner bearing surface 33 of the retainer 32 may comprise a spherical segment shaped inner wall.

The inner bearing surface 33 of the retaining element 32 can be formed by two spaced-apart

peripheral rims

33a and 33b (fig. 3) of the retaining element 32, which are supported on the spherical segment-shaped outer bearing surface 31 of the hose cuff 30.

At least one pin 36a of the holding element 32 or at least one pin receiver 37 of the holding element 32 is arranged in the intermediate space between the two spaced-apart

peripheral rims

33a and 33b of the holding element 32 in the case of this exemplary embodiment.

Claims

1. Holding device for an energy supply line (17), the holding device being located on a robot arm (5), the holding device having:

-a hose cuff (30) having an inner cuff wall (30a) configured for securing the hose cuff (30) on an outer peripheral region of the energy supply line (17) and an outer cuff wall (30b) comprising a spherical segment shaped outer bearing surface (31),

-a holder (32) having an inner bearing surface (33) corresponding to the spherical segment-shaped outer bearing surface (31) of the hose cuff (30) and a fastening section (32c) configured for fastening the holder (32) on the robot arm (5), wherein the outer bearing surface (31) of the hose cuff (30) and the inner bearing surface (33) of the holder (32) form a ball-and-socket joint such that the hose cuff (30) is pivotably guided in the holder (32) in a sliding bearing manner,

it is characterized in that

A limiter (34) configured for limiting a rotational degree of freedom of a ball-and-socket joint formed by the hose cuff (30) and the retainer (32) in a longitudinal extension orientation of the energy supply line (17).

2. A retaining device as claimed in claim 1, characterized in that the limit stop (34) is formed by a limiting element (35, 36) engaging in one another in a form-locking manner on the spherical-segment-shaped outer bearing surface (31) of the outer sleeve wall (30b) of the hose cuff (30) and on the inner bearing surface (33) of the retaining means (32).

3. Holding device according to claim 2, characterized in that the positively locking limiting elements (35, 36) engaging in one another comprise at least one pin (36a) which is fastened on the holder (32) and which is directed inwards towards the hose cuff (30) and at least one groove (35a) which is formed in the spherical segment-shaped outer bearing surface (31) of the outer sleeve wall (30b) of the hose cuff (30) and which is oriented parallel to the longitudinal extent (L) of the energy supply line (17) and into which the pin (36a) of the holder (32) engages.

4. The holding device according to claim 3, characterized in that the holding element (32) is designed as a two-part folding clamp having a first folding clamp half (32a) and a second folding clamp half (32b), and that both a pin (36a) is arranged in the first folding clamp half (32a), which pin engages in a groove (35a) of the hose cuff (30), and a pin is arranged in the second folding clamp half (32b), which pin engages in a groove of the hose cuff (30) opposite the groove (35 a).

5. A holding device according to claim 3 or 4, characterized in that at least one pin (36a) is detachably insertably supported in a pin receptacle (37) of the holder (32).

6. The retaining device as claimed in claim 3 or 4, characterized in that the hose cuff (30) is configured as a two-part hose cuff (30) having a first hose cuff half (30.1) and a second hose cuff half (30.2), wherein the first hose cuff half (30.1) and the second hose cuff half (30.2) are configured as identical parts, in each of which a groove (35a) is formed.

7. Holding device according to claim 2, characterized in that the limiting elements (35, 36) which engage in one another in a form-locking manner comprise at least one pin which is fastened on the hose cuff (30) and which is directed outwards towards the retaining element (32) and at least one groove which is formed in the region of an inner bearing surface (33) of the retaining element (32) and which is oriented parallel to the longitudinal extent (L) of the energy supply line (17) and into which the pin of the hose cuff (30) engages.

8. The holding device according to claim 7, characterized in that the holding element (32) is designed as a two-part folding clamp having a first folding clamp half (32a) and a second folding clamp half (32b), and that a groove is arranged both in the first folding clamp half (32a), into which groove the pin of the hose collar (30) engages, and in the second folding clamp half (32b), into which groove the pin of the hose collar (30) engages opposite the pin.

9. A retaining device according to claim 7 or 8, characterized in that at least one of the pins is detachably supported in a receiving hole of the hose cuff (30) in a plug-in manner.

10. The retaining device as claimed in claim 7 or 8, characterized in that the hose cuff (30) is configured as a two-part hose cuff (30) having a first hose cuff half (30.1) and a second hose cuff half (30.2), wherein the first hose cuff half (30.1) and the second hose cuff half (30.2) are configured as identical parts in which receiving holes for pins are respectively formed.

11. The retaining device as claimed in claim 7 or 8, characterized in that the hose cuff (30) is configured as a two-part hose cuff (30) having a first hose cuff half (30.1) and a second hose cuff half (30.2), wherein the first hose cuff half (30.1) and the second hose cuff half (30.2) are configured as identical parts, on the outer spherical bearing surface (31) of which a projection is formed as a pin in each case.

12. A holding device according to claim 3 or 4, characterized in that at least one of the pins (36a) is configured as a groove pin with at least one circumferentially widened jacket wall section.

13. A holding device according to claim 3 or 4, characterized in that at least one of the pins (36a) is configured as a steel pin.

14. The retaining device as claimed in one of claims 1 to 4, characterized in that the hose cuff (30) and/or the retaining element (32) are constructed as plastic components.

15. The holding device of claim 14 wherein the plastic component is a plastic injection molded part.

16. A holding device as claimed in any one of claims 1 to 4, characterized in that the inner bearing surface (33) of the holding element (32) comprises a segment-shaped inner wall.

17. The retaining device as claimed in one of claims 1 to 4, characterized in that the inner bearing surface (33) of the retaining element (32) is formed by two mutually spaced peripheral rims (33a, 33b) of the retaining element (32) which bear on the spherical segment-shaped outer bearing surface (31) of the hose cuff (30).

18. A holding device according to claim 5, characterized in that at least one pin (36a) of the holding element (32) and/or at least one pin receiving portion (37) of the holding element (32) is arranged in an intermediate space between two spaced-apart peripheral rims (33a, 33b) of the holding element (32).

19. A holding device according to claim 7, characterized in that the at least one recess of the holding element (32) is arranged in an intermediate space between two peripheral rims (33a, 33b) of the holding element (32) spaced apart from each other.