DE20112491U1 - Cable routing in a multi-axis industrial robot - Google Patents

Cable routing in a multi-axis industrial robot

Info

Publication number
DE20112491U1
DE20112491U1 DE20112491U DE20112491U DE20112491U1 DE 20112491 U1 DE20112491 U1 DE 20112491U1 DE 20112491 U DE20112491 U DE 20112491U DE 20112491 U DE20112491 U DE 20112491U DE 20112491 U1 DE20112491 U1 DE 20112491U1
Authority
DE
Germany
Prior art keywords
supply lines
cable routing
bearing beam
holder
protective
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE20112491U
Other languages
German (de)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bizlink Robotic Solutions Germany GmbH
Original Assignee
Leoni Protec Cable Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leoni Protec Cable Systems GmbH filed Critical Leoni Protec Cable Systems GmbH
Priority to DE20112491U priority Critical patent/DE20112491U1/en
Publication of DE20112491U1 publication Critical patent/DE20112491U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (9)

1. Leitungsführung von Versorgungsleitungen im Bereich eines mehrachsigen Industrieroboters (10, 10.2),
  • - mit einer Kabeltrennstelle im Bereich des eine bewegliche Roboterhand (20, 20.2) tragenden Roboterarms (18, 18.2), dadurch gekennzeichnet, dass
  • - ein Lagerbalken auf dem Roboterarm (18, 18.2) fest angebracht ist,
  • - die zur Roboterhand (20, 20.2) des Industrieroboters geführten Versorgungsleitungen im Bereich des Lagerbalkens zumindest in zwei Halterungen (50, 52) gelagert sind,
  • - eine die Versorgungsleitungen umgebende, dieselbe in ihrer Längsrichtung streckende Schraubenfeder (72) zwischen diesen zumindest zwei Halterungen (50, 52) des Lagerbalkens angeordnet ist.
1. Cable routing of supply lines in the area of a multi-axis industrial robot ( 10 , 10.2 ),
  • - With a cable separation point in the area of a robot arm ( 20 , 20.2 ) carrying robot arm ( 18 , 18.2 ), characterized in that
  • - a bearing beam is firmly attached to the robot arm ( 18 , 18.2 ),
  • - The supply lines leading to the robot hand ( 20 , 20.2 ) of the industrial robot are mounted in at least two holders ( 50 , 52 ) in the area of the bearing beam,
  • - A helical spring ( 72 ) surrounding the supply lines and extending the same in their longitudinal direction is arranged between these at least two brackets ( 50 , 52 ) of the bearing beam.
2. Leitungsführung nach Anspruch 1, dadurch gekennzeichnet, dass
  • - der Lagerbalken stabförmig oder plattenförmig ausgebildet ist.
2. Cable routing according to claim 1, characterized in that
  • - The bearing beam is rod-shaped or plate-shaped.
3. Leitungsführung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass
  • - der Lagerbalken eine geradlinige Längserstreckung aufweist.
3. Cable routing according to claim 1 or 2, characterized in that
  • - The bearing beam has a straight longitudinal extension.
4. Leitungsführung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass
  • - die Kabeltrennstelle auf einer auf dem Roboterarm befestigten Haltestange (102) vorhanden ist.
4. Cable routing according to one of the preceding claims, characterized in that
  • - The cable separation point is present on a holding rod ( 102 ) attached to the robot arm.
5. Leitungsführung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass
  • - die Kabeltrennstelle auf einer Lagerplatte (30) des Lagerbalkens vorhanden ist.
5. Cable routing according to one of claims 1 to 3, characterized in that
  • - The cable separation point is present on a bearing plate ( 30 ) of the bearing beam.
6. Leitungsführung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass
  • - die Versorgungsleitungen innerhalb eines Schutzschlauches (24, 24.2) vorhanden sind.
6. Cable routing according to one of the preceding claims, characterized in that
  • - The supply lines are inside a protective hose ( 24 , 24.2 ).
7. Leitungsführung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass
  • - eine erste Halterung (50) für die Versorgungsleitungen bzw. den Schutzschlauch im rückwärtigen Ende des Lagerbalkens vorhanden ist,
  • - in dieser ersten Halterung (50) die Versorgungs­ leitungen bzw. der Schutzschlauch längs verschieblich geführt sind,
  • - die Versorgungsleitungen bzw. der Schutzschlauch von dieser ersten Halterung (50) in einem Bogen zu einem die Kabeltrennstelle enthaltenden Halter (100) des Roboterarms (18.2) oder zu einer Lagerplatte (30) des Lagerbalkens geführt ist,
  • - eine zweite Halterung (52) für die Versorgungsleitungen bzw. den Schutzschlauch im vorderen Bereich des Lagerbalkens vorhanden ist,
  • - in dieser zweiten Halterung (52) die Versorgungs­ leitungen bzw. der Schutzschlauch längs verschieblich geführt sind,
  • - das eine Ende der Schraubenfeder (72) an einer (52) dieser beiden Halterungen befestigt ist,
  • - das andere Ende der Schraubenfeder (72) an den Versorgungsleitungen bzw. dem Schutzschlauch fest angebracht ist.
7. Cable routing according to one of the preceding claims, characterized in that
  • a first holder ( 50 ) for the supply lines or the protective hose is provided in the rear end of the bearing beam,
  • - In this first holder ( 50 ), the supply lines or the protective tube are guided to be longitudinally displaceable,
  • the supply lines or the protective hose are guided from this first holder ( 50 ) in an arc to a holder ( 100 ) of the robot arm ( 18.2 ) containing the cable separation point or to a bearing plate ( 30 ) of the bearing beam,
  • a second holder ( 52 ) for the supply lines or the protective hose is provided in the front area of the bearing beam,
  • - In this second holder ( 52 ), the supply lines and the protective hose are guided to be longitudinally displaceable,
  • one end of the coil spring ( 72 ) is attached to one ( 52 ) of these two brackets,
  • - The other end of the coil spring ( 72 ) is firmly attached to the supply lines or the protective hose.
8. Leitungsführung nach Anspruch 7, dadurch gekennzeichnet, dass
  • - dieses andere Ende der Schraubenfeder (72) an einem die Versorgungsleitungen bzw. den Schutzschlauch schützend umgebenden Schutzkörper (74) befestigt ist.
8. Cable routing according to claim 7, characterized in that
  • - This other end of the helical spring ( 72 ) is attached to a protective body ( 74 ) surrounding the supply lines or the protective hose.
9. Leitungsführung nach Anspruch 7 oder 8, dadurch gekennzeichnet, dass
  • - das vordere Ende der Schraubenfeder (72) an der am vorderen Ende des Lagerbalkens vorhandenen zweiten Halterung (52) und das rückwärtige Ende der Schraubenfeder an einem Schutzkörper (74) befestigt ist,
  • - dieser Schutzkörper (74) zwischen diesen beiden Halterungen (50, 52) vorhanden ist,
  • - ein weiterer Schutzkörper (76) an der zur Roboterhand (20, 20.2) zeigenden Seite der ersten Halterung (50) so vorhanden ist, dass die Versorgungsleitungen bzw. der Schutzschlauch (24) in rückwärtiger Richtung (80) unverschieblich an dieser ersten Halterung (50) gelagert sind.
9. Cable routing according to claim 7 or 8, characterized in that
  • - The front end of the coil spring ( 72 ) is attached to the second bracket ( 52 ) provided at the front end of the bearing beam and the rear end of the coil spring is attached to a protective body ( 74 ),
  • - This protective body ( 74 ) is present between these two brackets ( 50 , 52 ),
  • - A further protective body ( 76 ) is provided on the side of the first holder ( 50 ) facing the robot hand ( 20 , 20.2 ) in such a way that the supply lines or the protective hose ( 24 ) cannot be moved in the rearward direction ( 80 ) on this first holder ( 50 ) are stored.
DE20112491U 2001-07-28 2001-07-28 Cable routing in a multi-axis industrial robot Expired - Lifetime DE20112491U1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE20112491U DE20112491U1 (en) 2001-07-28 2001-07-28 Cable routing in a multi-axis industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20112491U DE20112491U1 (en) 2001-07-28 2001-07-28 Cable routing in a multi-axis industrial robot

Publications (1)

Publication Number Publication Date
DE20112491U1 true DE20112491U1 (en) 2001-10-18

Family

ID=7959843

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20112491U Expired - Lifetime DE20112491U1 (en) 2001-07-28 2001-07-28 Cable routing in a multi-axis industrial robot

Country Status (1)

Country Link
DE (1) DE20112491U1 (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1304195A1 (en) * 2001-10-19 2003-04-23 Cimlec Industrie Holding device for a cable bundle supplying energy to an automaton and its use for a welding robot
EP1369211A1 (en) 2002-06-05 2003-12-10 KUKA Roboter GmbH Device for guiding a hose in a channel
DE10216081B4 (en) * 2002-04-11 2005-03-31 Kabelschlepp Gmbh Robot with a routing device
DE102007018543A1 (en) 2007-04-17 2008-10-23 Philipp, Steffen Device for guiding supply lines along the structure of an industrial robot
DE102008051477A1 (en) 2008-04-16 2009-10-22 Philipp, Steffen Device for guiding supply lines e.g. cable, along structure of industrial robot in complex working environment, has supply lines guided into partial section starting from pivot point and guided again into another partial section
DE102008051628A1 (en) 2008-10-19 2010-04-22 Philipp, Steffen Apparatus and method for routing utility lines along the structure of an industrial robot
DE102009010953A1 (en) * 2009-02-27 2010-09-02 Dürr Systems GmbH Robots, in particular painting robots
WO2016198509A1 (en) * 2015-06-09 2016-12-15 Kuka Roboter Gmbh Line guiding device of an industrial robot
WO2018029113A1 (en) * 2016-08-10 2018-02-15 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Industrial robot for material processing
CN112719730A (en) * 2020-12-24 2021-04-30 万生智能科技无锡有限公司 Hollow type universal robot spot welding pipeline package

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1304195A1 (en) * 2001-10-19 2003-04-23 Cimlec Industrie Holding device for a cable bundle supplying energy to an automaton and its use for a welding robot
FR2831090A1 (en) * 2001-10-19 2003-04-25 Cimlec Ind DEVICE FOR HOLDING ENERGY TRANSPORT BEAM ELEMENTS TO AN AUTOMATON AND ITS APPLICATION TO A WELDING ROBOT
DE10216081B4 (en) * 2002-04-11 2005-03-31 Kabelschlepp Gmbh Robot with a routing device
US7278253B2 (en) 2002-04-11 2007-10-09 Kabelschlepp Gmbh Robot with a line guidance device
EP1369211A1 (en) 2002-06-05 2003-12-10 KUKA Roboter GmbH Device for guiding a hose in a channel
US6811124B2 (en) 2002-06-05 2004-11-02 Kuka Roboter Gmbh Device for guiding a hose
DE102007018543A1 (en) 2007-04-17 2008-10-23 Philipp, Steffen Device for guiding supply lines along the structure of an industrial robot
WO2008125093A3 (en) * 2007-04-17 2008-12-11 Steffen Philipp Device for guiding supply tubes/feeders along the structure of an industrial robot
DE102007018543B4 (en) * 2007-04-17 2009-02-26 Philipp, Steffen Device for guiding supply lines along the structure of an industrial robot
DE102008051477A1 (en) 2008-04-16 2009-10-22 Philipp, Steffen Device for guiding supply lines e.g. cable, along structure of industrial robot in complex working environment, has supply lines guided into partial section starting from pivot point and guided again into another partial section
DE102008051628A1 (en) 2008-10-19 2010-04-22 Philipp, Steffen Apparatus and method for routing utility lines along the structure of an industrial robot
DE102009010953A1 (en) * 2009-02-27 2010-09-02 Dürr Systems GmbH Robots, in particular painting robots
CN102333622A (en) * 2009-02-27 2012-01-25 杜尔系统有限责任公司 Robot, particularly spray robot
US8875593B2 (en) 2009-02-27 2014-11-04 Duerr Systems Gmbh Painting robot
CN102333622B (en) * 2009-02-27 2015-10-07 杜尔系统有限责任公司 Robot, particularly spray robot
WO2016198509A1 (en) * 2015-06-09 2016-12-15 Kuka Roboter Gmbh Line guiding device of an industrial robot
US10632629B2 (en) 2015-06-09 2020-04-28 Kuka Deutschland Gmbh Cable device of an industrial robot
WO2018029113A1 (en) * 2016-08-10 2018-02-15 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Industrial robot for material processing
US11628559B2 (en) 2016-08-10 2023-04-18 TRUMPF Werkzeugmaschinen SE + Co. KG Industrial robot for material processing
CN112719730A (en) * 2020-12-24 2021-04-30 万生智能科技无锡有限公司 Hollow type universal robot spot welding pipeline package
CN112719730B (en) * 2020-12-24 2023-06-06 万生智能科技无锡有限公司 Hollow type universal robot spot welding pipeline package

Similar Documents

Publication Publication Date Title
DE20112491U1 (en) Cable routing in a multi-axis industrial robot
DE9211739U1 (en) Roller-shaped cutting body for a shearing machine
DE4117496A1 (en) Power-driven percussion chisel - has suction extractor to remove stone dust with inlet near working area
EP0033072A1 (en) Apparatus with a device for securing a guide bar
DE20102674U1 (en) Handle for a hand-held implement
DE19851885C2 (en) Bracket for a cable harness
DE2637818C3 (en) Weaving machine drawer
DE2026839C3 (en) Holding and retraction device for hose and corded dental handpieces
DE3123364C2 (en) Weeder
DE20017011U1 (en) Device for attaching to a flashlight
DE102004028568A1 (en) Manipulating tool for flattening vehicle chassis parts comprises a pressing and gripping part connected together via a U-shaped hoop and a measuring device arranged on the gripping side of a side of the hoop
DE7927595U1 (en) Household ironing machine
DE20213572U1 (en) Orthopedic fixation device
EP0278097A1 (en) Holder for the electric supply flex of an iron
DE20011240U1 (en) Automatic resistance adjustment means for distribution boxes
DE8509993U1 (en) Fixing device for medical supply units
DE3422272C2 (en)
DE102022107616A1 (en) HIGH PRESSURE CLEANING DEVICE
DE8801866U1 (en) Angle adjustable audio device holder
DE29612547U1 (en) Bracket arrangement for bicycle basket
DE19532071A1 (en) Vapour deposition unit with several evaporation boats
DE255418C (en)
DE29707131U1 (en) Bracket with clamping lever for target devices
DE19963724A1 (en) Arrangement for feeding cables through walls has cable holder bodies wider than distance between supporting bodies, separate connection arrangement for holding bodies in connecting part
DE20019865U1 (en) Automatic resistance adjustment means for distribution boxes

Legal Events

Date Code Title Description
R207 Utility model specification

Effective date: 20011122

R150 Term of protection extended to 6 years

Effective date: 20041124

R021 Search request validly filed

Effective date: 20070425

R151 Term of protection extended to 8 years

Effective date: 20070813

R163 Identified publications notified

Effective date: 20071205

R152 Term of protection extended to 10 years

Effective date: 20090819

R071 Expiry of right
R071 Expiry of right