DE102018109249A1 - Robot joint-wiring - Google Patents

Abstract

The invention relates to a robot joint cable guide for guiding at least one supply line (5, 6) by a rotary robot joint (2) between two adjacent robot members (3, 4) of a robot (1) and a robot equipped with such a cable guide (10) ( 1). The cable guide (10) has at least one angled cable receptacle (13), which comprises a first mold shell (11) and a second mold shell (12). The at least one supply line (5, 6) can be inserted between the shell molds (11, 12) in a bending guide region (15, 16). The first and the second mold shell (11, 12) can be connected or connected to one another by at least one first fastening means (17, 18). The line receptacle (13) has at least one second attachment means (19) for attachment to a robot member (3, 4). The supply lines (5, 6) are preassembled with the line guide according to the disclosure (10) to form an assembly which can be easily and quickly positioned and fixed to the robot.
The figure intended for publication with the abstract is FIG. 1.

Description

The present disclosure relates to a robot joint wiring for guiding at least one supply line through a rotary robot joint between two adjacent robot members and a robot having a wiring according to the disclosure.

In practice, it is known to guide one or more supply lines in a so-called barrel guide on a rotary robot joint from a first robot member to the second robot member connected via the robot joint. The previously known cable guides are not optimally formed.

It is an object of the present invention to provide an improved robot routing for the aforementioned purpose and a robot having at least one such routing.

The invention solves this problem by the features of the independent claims.

The robotic joint conduit of the present disclosure includes at least one angled conduit receptacle comprising a first mold shell and a second mold shell. One or more supply lines can be inserted into a bending guide region between the shell molds. The first and the second mold shell can be connected to each other (directly) by at least one first fastening means, so that the at least one supply line is received between the mold shells. Particularly preferably, the cable receptacle has at least one clamping region, which is formed in particular between clamping contours on the first mold shell and the second mold shell.

The cable receptacle has at least one second attachment means for attachment to a robot member.

The cable routing according to the disclosure can be pre-assembled with one or more supply lines, wherein only the at least one first attachment means is closed or fixed. By way of the one or more second fastening means, the preassembled line receptacle on the robot can then be inserted and fixed in a barrel guide in a simple processing step. It is therefore not necessary to introduce the supply lines individually or in small groups each separately in a barrel guide. Furthermore, it requires no multiple Einzelklemmungen for fixing the supply lines.

The routing according to the disclosure considerably speeds up the assembly of a robot and makes it less susceptible to errors.

As a result of the mutually corresponding shell molds, between which a supply line is inserted in a bending guide region, it is ensured that the supply lines are loaded only at an allowable bending stress. An accidental kinking or excessive bending of individual supply lines can be effectively prevented. This is particularly advantageous in the assembly of small robots and lightweight robots, which are particularly tight space for the line assembly.

The disclosed routing also has advantages in terms of maintenance and disassembly. If a defect occurs on one or more supply lines, a complete line tree can be quickly removed by solution from a very small number of second fasteners and replaced with a new line tree. As a result, the operational readiness of a robot can be restored particularly quickly, which is particularly advantageous for use in fully automatic series production.

In the subclaims, the accompanying drawings and the following description further advantageous embodiments of the invention are given.

• 1: eine offenbarungsgemäße Robotergelenk-Leitungsführung im endmontierten Zustand;
• 2: die Leitungsführung aus 1 unter Ausblendung eines Teils der Tonnenführung;
• 3: die Leitungsführung aus 1 unter vollständiger Ausblendung der Tonnenführung bzw. eine Leitungsführung in einem vormontierten Zustand;
• 4: eine vergrößerte Darstellung einer abgewinkelten Leitungsaufnahme gemäß den vorhergehenden Figuren in vormontiertem Zustand
• 5: eine Stirnansicht analog zur 2 während der Montage
• 6: eine Explosionsdarstellung einer offenbarungsgemäßen Leitungsführung vor dem Zusammenfügen der Formschalen bei der Montage
• 7: einen Leichtbauroboter mit einer offenbarungsgemäßen Leitungsführung.

The invention is illustrated by way of example and schematically in the drawings. These show:

• 1 a robot joint routing according to the disclosure in the final assembled state;
• 2 : the wiring out 1 with the removal of part of the barrel guide;
• 3 : the wiring out 1 with complete suppression of the barrel guide or a wiring in a pre-assembled state;
• 4 : An enlarged view of an angled cable receptacle according to the preceding figures in preassembled state
• 5 : a front view analogous to 2 during assembly
• 6 : An exploded view of a wiring according to the disclosure prior to assembly of the mold shells during assembly
• 7 : A lightweight robot with a routing according to the disclosure.

The arrangement and purpose of a robot joint wiring according to the present disclosure will be exemplified in FIG 7 shown. The robot shown there ( 1 ) has a plurality of robot members ( 3 . 4 ), wherein between at least two adjacent robot members ( 3 . 4 ) a rotary robot joint ( 2 ) is arranged.

The robot ( 7 ) is supplied, for example, via a foot member or base member. The supply may include the supply of electrical currents, in particular load currents and signal currents, the discharge of electric currents, in particular signal currents, as well as the supply and / or discharge of other media such as pressurized fluids. In addition, any other supply media can be added and removed.

• • Einen oder mehrere Antriebe;
• • Einen oder mehrere Sensoren;
• • Eine oder mehrere Steuerungen
• • Einen oder mehrere Versorgungsanschlüsse zu einer Roboterausstattung, insbesondere zu mindestens einem von dem Roboter geführten Werkzeug.

The robot ( 1 ) has a plurality of components to be connected to the supply lines and distributed in any manner on the robot members and possibly the robot joints. Accordingly, it may be necessary to lay supply lines in one or more pieces between at least two adjacent robot members so that the streams and / or media can be distributed to the components. The components to be connected via supply lines may include:

• • one or more drives;
• • one or more sensors;
• • One or more controllers
• One or more supply connections to a robot equipment, in particular to at least one tool guided by the robot.

Because the robot members move relative to each other about a central axis ( M ) of the robot joint ( 2 ) are the supply lines ( 5 . 6 ) is exposed to dynamics during the relative movement of the links. The supply lines are within a member ( 3 . 4 ), in particular via the disclosed line recording ( 13 ) and the at least one clamping area provided there ( 14 ). Between the robot members ( 3 . 4 ), a section of the supply line is subjected to a dynamic movement resulting from the relative movement of the fixing points on the moving robot members ( 3 . 4 ). This area of the supply lines is preferably in the form of line loops ( 29 . 30 ) and is called dynamic line part. The outgoing from the dynamic line section areas of the supply lines ( 5 , 6) located behind the at least one clamping region ( 14 ) are referred to as the static line region.

1 shows a robot joint wiring in the fully assembled state. The cable routing ( 10 ) has at least one line receptacle ( 13 ), which has at least one second attachment means ( 19 ) on a robot member ( 3 . 4 ) is determinable. The supply lines ( 5 . 6 ) may be laid in one or more strands. Furthermore, two or more pairs of oppositely-directed supply lines ( 5 . 6 ) be provided. In the example of 1 is a first pair of utility lines ( 5 . 6 ) in the foreground half of the picture and a second pair of supply lines in the back of the picture. Each pair of supply lines is connected via a first line receptacle ( 13 ) and a second line recording ( 13 ' ) with the adjacent robot members ( 3 . 4 ) connected. Between the first and second line recordings ( 13 . 13 ' ) of a pair extends at least one line loop ( 29 . 30 ), which forms the dynamic line area.

The installation of a cable receptacle ( 13 ) is determined by 6 explained. The line recording ( 13 ) comprises a first mold shell ( 11 ) and a second shell ( 12 ). The shell molds ( 11 ) and ( 12 ) have a mutually corresponding shape. On an inner side of the shell molds ( 11 . 12 ) are bending guide areas ( 15 . 16 ) intended. Each shape shell ( 11 . 12 ) has at least one bending guide region ( 15 . 16 ) on. In the example of 6 has every shape shell ( 11 . 12 ) two bending guide areas ( 15 . 16 ) on. The bending guide areas ( 15 . 16 ) have a to be included supply line ( 5 . 6 ) complementary shape. When the shell molds ( 11 . 12 ) are coupled together in the intended mounting position, the bending guide regions enclose the one or more inserted supply lines ( 5 . 6 ) preferably at a predominant part of the lateral surface or the complete lateral surface. In other words, the one or more supply lines ( 5 . 6 ) in the bending guide areas ( 15 . 16 ) recorded form-fitting and shaping.

The bending guide areas ( 15 . 16 ) are preferably curved several times. A first part of the curvature preferably provides a substantially circular segment-shaped joining of the supply line about a radial axis ( R ) (compare 4 ). A second part of the bend sees a curvature of the supply lines ( 5 . 6 ) about the longitudinal axis of the barrel guide, which is usually with the central axis ( M ) of the robot joint ( 2 ) matches.

The at least one first fastening means ( 17 ) is preferably independent of the second Fixing means ( 19 ) fixable. In other words, the first and the second shell molds ( 11 . 12 ) can be connected together to form an assembly in which at least one supply line ( 5 . 6 ) is recorded. The supply line ( 5 . 6 ) is preferably via at least one clamping area ( 14 ) between the shell molds ( 11 . 12 ) fixed. As an alternative to a clamping region, another form of positional fixing may be provided, for example an adhesive bond. In the example of 6 are respectively at a front and rear end of the bending areas ( 15 . 16 ) Clamping zones ( 14 ), so that the at least one supply line ( 5 . 6 ) both at the transition between the line recording ( 13 ) and the dynamic range as well as at the transition from the line recording ( 13 ) and the static area is fixed. This advantageously between the clamping areas ( 14 ) lying line section, which may be exposed to a comparatively strong curvature, decoupled from Zugentlastungen, possibly from the relative movement of the robot members ( 3 . 4 ). According to an alternative embodiment, only one of the in 6 shown clamping zones ( 14 ) be provided. Again alternatively, a clamping zone ( 14 ) at another area between the shell molds ( 11 . 12 ), for example in the running direction of the supply lines ( 5 . 6 ) approximately in the middle of a bending guide area ( 15 . 16 ).

In the drawings, the supply lines ( 5 . 6 ) are shown as tubular conduits with a substantially round cross-section. It may be single or multiple lines, in particular bundles of supply lines. According to a preferred embodiment, the wiring ( 10 ) at least one cable sleeve ( 20 ), in which a supply line ( 5 . 6 ) and in particular a bundle of supply lines ( 5 . 6 ) is receivable. The cable sleeve ( 20 ), a microfusion of the one or more supply lines ( 5 . 6 ) and additionally protect them.

A conduit cover ( 20 ), the at least one supply line ( 5 . 6 ), preferably has a substantially circular and rigid cross-section. Alternatively or additionally, the supply line may have a limited curvature, which is selected in particular such that in the dynamic line region, a kinking or excessive bending of the supply line (s) accommodated in the line casing is made more difficult or impossible.

The robot joint cable routing ( 10 ) preferably has a barrel guide, which is a macro guide for the supply lines ( 5 . 6 ) between the robot members ( 3 . 4 ) causes. This will be explained below with reference to 1 . 2 and 5 explained.

The cable routing ( 10 ) preferably has two hollow guide rings ( 21 . 22 ), each with one of the adjacent robot members ( 3 . 4 ) are connectable. The guide rings ( 21 . 22 ) preferably each have an annular end opening ( 23 . 24 ). In the assembled state, the annular end openings ( 23 . 24 ) preferably in close proximity to each other and communicating with each other, so that through the annular end openings ( 23 . 24 ) the cavities of the guide rings ( 21 . 22 ) and form a common cylinder-shaped receiving space for the dynamic line area, ie for the line loops ( 29 . 30 ).

At least one guide ring and preferably both guide rings ( 21 . 22 ) have a section, in particular a jacket cutout ( 25 . 26 ) through which one or more supply lines ( 5 . 6 ) are insertable. The introduction of supply lines ( 5 . 6 ) takes place in particular in the form of line loops ( 29 . 30 ), at the ends of which already pre-assembled cable receptacles ( 13 . 13 ' ) are arranged.

The line recordings ( 13 . 13 ' ) are in any way on the robot members ( 3 . 4 ). Particularly preferred are the line receptacles ( 13 . 13 ' ) with the second fastening means ( 19 ) at an edge area ( 27 . 28 ), which covers the jacket cutout ( 25 . 26 ) surrounds (compare 5 ). This edge region may be part of a guide ring ( 21 . 22 ), in particular a part of the inner jacket wall ( 31 . 31 ' ) or the outer jacket wall ( 32 ). Alternatively, a border area ( 27 . 28 ) by any other with a robot member ( 3 . 4 ) firmly connected element act, for example, a housing part of the robot member ( 3 . 4 ).

The first and second fastening means ( 17 . 18 . 19 ) can have any training. In the examples shown, first fastening elements ( 17 ) provided in the form of latching hooks and a further first fastening means ( 18 ) in the form of a screw connection. The second fastening means ( 19 ) is exemplified as a console or bracket, which can be fixed, for example, by screwing, plugging, clamping, gluing or riveting.

A robot joint cable routing can be used to accommodate different supply lines ( 5 . 6 ) and for attachment to a robot joint ( 2 ) be prefabricated. For this purpose, the wiring ( 10 ) particularly preferably two line receptacles ( 13 . 13 ' ) and at least one between the line receptacles ( 13 . 13 ' ) running sleeve ( 20 ) exhibit. The cable sleeve ( 20 ) can preferably each with a shell mold ( 11 . 12 ) of the line receptacles ( 13 . 13 ' ). For the pre-assembly of a wiring harness, it is then only necessary, the one or more supply lines ( 5 . 6 ) through the at least one cable sheath ( 20 ), which at the ends of the cable sheath ( 20 ) projecting ends possibly in the bending guide areas ( 15 . 16 ) and the respective shell molds ( 11 . 12 ) of the line receptacles ( 13 . 13 ' ) by the first attachment means ( 17 . 18 ) with each other to fix or connect. In the mutual fixation of the shell molds ( 11 . 12 ) is preferably automatically the clamping or other holding receiving the supply lines ( 5 . 6 ) causes, in particular in the above-described clamping areas ( 14 ) between the shell molds ( 11 . 12 ).

As can be seen from the illustration in 5 results, the preassembled line trees with the line loops ( 29 . 30 ) ahead through the jacket cutouts ( 25 . 26 ) directly into the common cylindrical annular space between the guide rings ( 21 . 22 ) insertable. Due to the pre-dimensioned length of the cable sheaths ( 20 ) and the predefined fastening points for fixing the second fastening means ( 19 ) on the robot members ( 3 . 4 ) creates a defined position and mobility of the lines in the cavity. On the measurement of line lengths or accurate positioning of line sections can be advantageously dispensed with.

The aforementioned defined position of the lines (5,6) in the common cavity is exemplified in 3 shown. When the robot members ( 3 . 4 ) relative to each other about the central axis ( M ) of the robot joint ( 2 ) are twisted, thereby each of the at the robot member ( 3 . 4 ) ( 13 . 13 ' ) taken on a circular path. As a result, the position of the line loops (in a manner corresponding to one another) changes ( 29 . 30 ). As a result of the rolling movement predetermined by the geometry, a collision of the loops ( 29 . 30 ) locked out.

Modifications of the invention are possible in various ways.

In the examples shown, the barrel guide is guided by guide rings ( 21 . 22 ), which has an inner jacket wall ( 31 ) and an outer jacket wall ( 32 ), in both Mantelwandungen ( 31 . 32 ) Jacket cutouts ( 25 . 26 ) are provided. Alternatively, one or more shell cutouts ( 25 . 26) only in an inner casing wall or only in an outer casing wall.

The guide rings shown in the examples ( 21 . 22 ) each have opposite the annular end opening ( 23 . 24 ) a bottom wall ( 34 ), which in particular flush with the inner jacket wall ( 31 ) and / or the outer jacket wall ( 32 ). In the bottom wall ( 34 ) are provided in the examples shown additional bottom cutouts (without reference numeral).

In alternative embodiments, if appropriate, only a cutout opening in an inner jacket wall (FIG. 31 ), an outer jacket wall ( 32 ) or a bottom wall ( 34 ) be provided. Again, alternatively, any intermediate combination of the aforementioned variants is possible.

The bending guide areas ( 15 . 16 ) are shaped in the examples shown in such a way that an end pointing to the dynamic line region, the lines in the tangential direction ( T ) introduces into the cavity, while the end facing the static conduction region leads the leads in the cavity plane parallel to the axial direction, particularly in the plane of rotation of the robot joint ( 2 ) pioneering direction.

Alternatively, any other shape of the bending guide areas ( 15 . 16 ) possible. In particular, the static area end of one or more supply lines ( 5 . 6 ), for example in the radial direction ( R ) facing outwards or inwards. Furthermore, any intermediate combinations of the aforementioned orientations of the end facing the static region are possible.

The first and second shell molds ( 11 . 12 ) can according to the example in 6 exist as separate components. Alternatively and preferably, a first and a corresponding second mold shell (FIG. 11 . 12 ) already be movably connected to each other, for example, by a flexible gutter or a joint, so that they can not fall apart during assembly. The joint may for example be a hinge joint. Alternatively, the shell molds ( 11 . 12 ) be interconnected, for example, by a flexible plastic web. This is particularly advantageous when the shell molds ( 11 . 12 ) are manufactured as injection molded parts from a plastic.

For mounting, it is particularly advantageous if the barrel guide or the one or more guide rings ( 21 . 22 ) already on the robot ( 1 ) or its joints ( 3 . 4 ) and on the other hand, the wiring with at least one supply line ( 5 . 6 ) is preassembled separately. Subsequently, the pre-assembled assemblies can be combined and joined together in a quick and easy assembly step, in particular by the loops ( 29 . 30 ) of the dynamic conduction areas in the cavity between the guide rings ( 21 . 22 ) and at the edge areas ( 27 . 28 ) by means of the line receptacles ( 13 . 13 ' ) be determined.

Alternatively, a different order or grouping of assembly steps is possible.

LIST OF REFERENCE NUMBERS

1

robot

2

Rotatory robot joint

3

robot element

4

robot element

5

supply line

6

supply line

10

wiring

11

First form shell

12

Second form shell

13

Cable intake, angled

13 '

Cable intake, angled

14

clamping range

15

Bending guide portion

16

Bending guide portion

17

First fastener, latching hook

18

First fastener, screw connection

19

Second fastener, bracket / bracket

20

cable sheath

21

Guide ring, first ring trough

22

Guide ring, second ring trough

23

end opening

24

end opening

25

sheath neckline

26

sheath neckline

27

border area

28

border area

29

line loop

30

line loop

31

Inner jacket wall

31 '

Inner jacket wall

32

Outer jacket wall

33

cavity

34

bottom wall

35

border area

36

border area

A

axially

M

Central axis robot joint

T

tangential

R

radial direction

Claims (10)

Robot joint cable guide for guiding at least one supply line (5, 6) by a rotary robot joint (2) between two adjacent robot members (3, 4), characterized in that the cable guide (1) has at least one angled line receptacle (13), the one first mold shell (11) and a second mold shell (12), wherein between the mold shells (11, 12) the at least one supply line (5, 6) in a bending guide region (15, 16) can be inserted, and wherein the first and the second Form shell (11, 12) by at least one first fastening means (17, 18) are connectable to each other, and wherein the line receptacle (13) has at least one second fastening means (19) for attachment to a robot member. Robot joint cable routing to Claim 1 wherein the first attachment means (17) is fixable independently of the second attachment means (19). Robot joint cable routing according to one of Claims 1 or 2 , wherein the line receptacle (13) has at least one clamping region (14) which is formed in particular between clamping contours on the first mold shell (11) and the second mold shell (12). Robot joint cable guide according to one of the preceding claims, wherein the mold shells (12, 13) have at least two corresponding bending guide regions (15, 16). Robot joint cable routing according to one of the preceding claims, wherein the cable guide has at least one cable sheath (20) in which at least one supply line (5, 6) is receivable, in particular at least one bundle of supply lines (5, 6). The robotic joint conduit of any of the preceding claims, wherein a conduit sheath (20) surrounding at least one supply conduit (5, 6) has a substantially annular and annular shape having stiff cross-section and / or a limited curvature. Robot joint cable guide according to one of the preceding claims, wherein the line guide (10) has two line receptacles (13, 13 ')) and at least one between the line receptacles (13, 13') extending line sleeve (20). Robot joint line guide according to one of the preceding claims, wherein the line guide (10) has two hollow guide rings (21, 22) corresponding to one another which can each be connected to one of the adjacent robot links (3, 4) and communicate annular end openings (23, 24) exhibit. Robot joint cable guide according to one of the preceding claims, wherein at least one guide ring (21, 22) has a jacket cutout (25, 26) through which one or more supply lines (5, 6) with a preassembled line receptacle (13, 13 ') in the Cavity of the guide ring is insertable, wherein in particular the line receptacle (13, 13 ') with the second fastening means (19) at an edge region (27, 28) can be fixed, which surrounds the jacket cutout (25, 26). Robot comprising two adjacent robot members (3, 4) connected by a rotary robot joint (2), characterized in that the robot (1) comprises a robot joint cable guide (10) for guiding at least one supply line (5, 6) through the robot Rotary robot joint (2), which is designed according to one of the preceding claims.

Images