DE202013101992U1 - Cable routing with multiaxial bendable links - Google Patents

Abstract

Cable guide (1), each with a plurality of mutually angled, hingedly interconnected links (2) which in the longitudinal direction (L) of the cable guide (1) are arranged one behind the other and each - an inner part (3) with corresponding, multi-axial bendable joint connectors (5, 6 ); and - a casing part (4) with at least one pivotable segment (10) for peripherally limiting a guide channel (7) accessible when the segment (10) is pivoted open; comprising, wherein for supporting the pivotable segment (10) a pivot joint (15) on a transversely to the longitudinal direction (L) of the inner part (3) projecting web (20) is provided, characterized in that adjacent members (2) with their shell parts ( 4) in the longitudinal direction (L) overlap; and that a fixed jacket section (25) is provided on the web (20) for closing a mating recess (11) in the pivotable segment (10), which allows pivoting over an overlapping jacket part (4).

Description

The invention generally relates to a cable guide for guiding and protecting cables, hoses or the like. The invention relates in particular to a line guide, each with a plurality of mutually bendable, articulated members, which are arranged one behind the other in the longitudinal direction of the wiring. The links each have an inner part with corresponding multi-axial articulated joints and a shell part with at least one pivotable segment. The casing part serves to limit the circumference of a guide channel made accessible when the segment is swiveled open. For the storage of the pivotable segment, a pivot joint is provided on a transverse to the longitudinal direction of the inner part projecting web.

Such a routing is from the utility model DE 20 2012 001 760 U1 known. The latter has compared to that from the international patent application WO 2004/093289 Prior art wiring has the advantage that the insertion or removal of the cables or other lines is simplified by the swinging of individual segments of the shell parts provides access to the inner guide channels. Due to the design, in particular due to the pivotable segments, the shell parts are each arranged at a distance in the longitudinal direction one behind the other and therefore have a relatively small longitudinal dimension in relation to the chain links. With regard to the protective function of the jacket, for example, against chips, sparks or the like, accordingly, a wiring is lost DE 20 2012 001 760 to be desired.

From the DE 10 2010 032 920 is another spatially deflectable routing known. This offers, similar to the energy chain DE 20 2012 001 760 , no closed covering of the pipes and thus incomplete protection against external influences.

The senior management institution according to WO 2004/093289 in this regard has the advantage that the members proposed there can form a full and closed over the entire length joint tube. For the introduction or removal of the lines are in the wiring from the WO 2004/093289 However, provided slot-shaped openings in the shell parts of the limbs. However, the insertion and removal of lines through such openings is cumbersome in practice. In addition, the apertures also reduce the protection of the routed lines to some extent.

Cable guides with multiaxial mutually bendable members are used where the degrees of freedom of classical cable drag chains with uniaxially pivotable members are insufficient, e.g. on industrial robots. Especially in these applications, increased protection of the routed lines, cables, hoses, etc. is usually desirable, e.g. in a welding robot.

It is therefore an object of the present invention to propose a cable guide which on the one hand facilitates the insertion and removal of lines and at the same time offers increased protection of the guided lines.

This object is achieved with a cable routing according to the preamble of claim 1 already in that adjacent members overlap with their shell parts in the longitudinal direction and that a stationary shell section is provided on the web. The stationary or immovably mounted on the web shell section serves to close a matching recess in the pivotable segment, which allows the pivoting over an adjacent overlapping shell part only. Due to the interaction of the stationary casing section on the web and the recess in the pivotable segment pivoting is made possible for easy insertion or removal of the lines, and at the same time the opening associated with the recess itself is closed in a simple manner, so that no reduction of the protective function. The jacket portion and the recess are designed to match each other, so that is closed except for technically required clearances for unimpeded pivoting of the web of the jacket in the circumferential and longitudinal directions substantially continuously. The jacket section thus does not necessarily close the mating recess hermetically, but in the sense that the risk of intrusion of undesirable external influences, such as chips or sparks, is significantly reduced and, if possible, completely avoided.

A particular advantage of the proposed solution is that with a small number of components per link and without special joint arrangements a full and longitudinally closed wiring and at the same time a relatively simple handling for insertion and removal of lines is possible.

The fixedly mounted on the web shell section is expediently provided in the longitudinal direction or axially to the pivot joint next to this on the web. It may be approximately rectangular in plan view and preferably extends with its length in the circumferential direction and with its width axially from the pivot to the adjacent link.

In order to allow unhindered opening and closing at least in the extended position of the cable guide, the axial dimension of the jacket section and thus the approximately identical axial dimension of the matching recess at least the axial dimension of the overlap of adjacent members, the latter axial dimension is measured in the longitudinal direction with elongated cable routing. A larger selected axial dimension of the matching recess and accordingly of the jacket section can allow unhindered up and Zuschwenken the segments even in a curved position. However, this is at the expense of the available space in the longitudinal direction, in particular for a stable design of the pivot joint.

In order to permit unhindered opening and closing at different angles of rotation of the joint connectors, the angular dimension of the shell section and the approximately identical angular dimension of the mating recess, measured in the circumferential direction, correspond at least to the maximum angle of rotation of the joint connectors about the longitudinal direction. Suitably, the angular dimension of the sheath portion and the approximately identical angular dimension of the mating recess are in the range of 10% to 25% of the total angular extent of the segment as measured in the circumferential direction. The smallest possible angular dimension of the casing section reduces disabilities during insertion and removal of lines, the largest possible angular dimension of the matching recess, however, allows a wide swinging.

A particularly good protective effect can be achieved if the jacket section and the matching recess each have one or more edges on which cooperating folds and / or bevels are provided. The cooperating folds and / or chamfers can prevent continuous openings in the radial direction or transverse to the longitudinal direction, without any impairment of the pivotability of the segment.

A geometrically simple embodiment further provides that the jacket portion and the matching recess each have a long edge extending in the circumferential direction, which runs in a plane perpendicular to the pivot axis of the pivot joint. In this case, this plane can expediently also be perpendicular to the longitudinal direction in the extended cable routing. However, another course of an approximately circumferential long edge is not excluded.

In a preferred embodiment, the jacket portion is made in one piece with the web or formed on this, in particular made of plastic by injection molding. The inner part can be made in one piece with all webs and sheath sections in order to minimize the required number of components. However, the jacket section can also be subsequently fixed by means of a suitable material, positive and / or non-positive connection, stationary on the bridge.

In a manner known per se for the multi-axially bendable connection of the links, the inner part of each link expediently has corresponding cardan or ball-joint-like joint connectors, wherein the one connector of one link can be coupled to the corresponding other link of the other link to sequentially connect the links in the longitudinal direction concatenate similar to a classic energy chain.

In a known per se construction, it is also useful if each segment is divided in the longitudinal direction into two spherical Kalottenbereiche. The first dome area has a ball center which substantially coincides with the center of the hinge at the inner part. The second dome area has a slightly larger radius and may at least partially accommodate the first dome area of the adjacent link. In this construction, it is preferably provided that the matching recess is provided exclusively in the first dome area. Furthermore, it is preferably provided that the casing section has a spherical surface which supplements the first dome region. As a result, the design of the jacket section and the matching recess can be integrated without friction into a known dome-shaped design of the segments.

In an advantageous embodiment, it is provided that the webs extend radially outwards and in each case with a component in the longitudinal direction and the pivot joint extends with respect to the casing part from the stationary casing section to the second dome region. This embodiment achieves an advantageous arrangement and stable size of the pivot joint.

Particularly advantageous proved the arrangement of three rotationally symmetrical distributed guide channels. For this purpose, a design is preferred in which each web has exactly one fixed jacket section for each segment and in which the jacket part of each link has several, in particular three identical and integrally produced segments and on the inner part, in particular on the central longitudinal section of the inner part, rotationally symmetric a corresponding number, in particular three webs, are integrally formed.

Further advantages and features of the invention will be explained in more detail with reference to FIGS. Hereby show:

1A - 1B : Perspective views of a section of a preferred embodiment of inventive cable guide with fully closed shell parts ( 1A ) and with swung segments of the shell parts ( 1B );

2 : Perspective view of a segment of a link of the cable guide 1A - 1B ;

3 : Perspective view of the inner part of a member of the wiring 1A - 1B ,

A preferred embodiment of the cable guide according to the invention is in 1A - 1B generally with 1 designated. The cable routing 1 serves as energy supply chain for cables, hoses or the like and consists of a variety of hingedly interconnected links 2 , Every link 2 is largely open at both ends and has a rotationally symmetrical outer contour in the closed state. Every link 2 consists here of an integrally produced by injection molding process inside part 3 and one the inside part 3 surrounding three-part shell part 4 , At the inner part 3 are each in the longitudinal direction L opposite a ball joint head or a correspondingly shaped ball joint socket as a joint connector 5 respectively. 6 provided so that the limbs 2 are interconnected by ball joints and thus are movable in virtually all directions against each other. Angling around only two transverse axes is to be understood in the context of the invention and as multiaxial. The hinge connectors 5 . 6 are detachable and designed to absorb tensile forces. Further details of suitable joints are not described in detail, since the principle already from the WO 2004/093279 is known.

By means of the ball joints 5 . 6 becomes the wiring 1 spatially or three-dimensionally movable. So can the wiring 1 in particular for supplying the end effector to a multi-axis industrial robot (not shown), for example for supplying the welding head to a 6-axis welding robot. The cable routing 1 is preferably continuous between the stationary and the movable connection (not shown) to be supplied, as in 1A - 1B shown executed. A sequence of spatially movable members 2 may also be present only in sections herein.

How out 1A best seen form the shell parts 4 of the individual limbs 2 in the closed state, a substantially fully circumferentially closed protective tube around the inner guide channels 7 ( 1A ). By overlapping the shell parts 4 in the longitudinal direction L is the wiring 1 also largely closed over the entire length. The shell parts 4 the limbs 2 thus form an almost closed protective covering for the leading cable, hoses or the like.

Each shell part 4 limits the guide channels 7 circumferentially and consists in the preferred embodiment of three identically made segments 10 , what a 3 are shown in more detail. The segments 10 are made in one piece from plastic by injection molding and have an approximately sector-like shape. How closer 3B As can be seen, the segments are 10 viewed in the longitudinal direction L divided into a first Kalottenbereich 12 and a second dome area 14 , The first dome area 12 has approximately the shape of the sector of a ball ring, the ball center in the closed state ( 1A ) substantially with the center of the joint ball of the joint connector 5 on the inner part 3 coincides. This is followed by the second dome area 14 a center of gravity displaced in the longitudinal direction L and a larger radius of curvature so as to have a corresponding first dome area 12 of the adjacent limb 2 can record and cover. The dome areas 12 . 14 achieve the desired overlap ( 1A - 1B ), without the flexibility of the limbs 2 to impair.

Between each of the three bridges 20 of the inner part 3 and each of the segments 10 each is a swivel joint 15 consisting of a pivot pin 16 on the segment 10 and a joint recording 26 at the jetty 20 intended. On the basis of the swivel joints 15 are the segments 10 movable on the inner part 3 , more precisely at the ends of the webs 20 , stored, and the segments can be swung outwards. Thus, by swiveling up a successive series of segments 10 optional access to each of the guide channels 7 be created ( 1B ). The pivot axis of the pivot joint 15 lies with stretched cable routing 1 parallel to the longitudinal direction L.

3 illustrates fixed jacket sections 25 , each at each jetty 20 are provided. At every jetty 20 is exactly a jacket section 25 provided and integral with the bridge 20 produced.

With swung segment 10 closes the jacket section 25 a matching recess designed for this purpose 11 in the swiveling segment 10 ( 1A ). As a result, unwanted openings in the shell part 4 largely avoided. The recess 11 in the segment 10 allows the swiveling of the segment 10 over an overlapping jacket part 4 of the next longitudinal member 2 , like out 1B seen. The recess 11 in the swiveling segment 10 opens to the side of the swivel joint 15 and to the neighboring limb 2 ,

The fixed jacket section 25 adjoins longitudinally offset directly to the joint recording 26 at the outer end of the bridge 20 , The jacket section 25 has one the first dome area 12 complementary surface 29 , ie a corresponding spherical cap surface 29 , The surface 29 each jacket section 25 is flush with the outer surface of the closed segments 10 , The surface 29 the jacket sections 25 complements the outer surface of the segments 10 to a substantially closed in the circumferential and longitudinal direction L cylinder jacket. The jacket sections 25 thus increase the protection of the in the guide channels 7 guided lines like out 1A - 1B seen. The jacket section 25 extends here sector or arcuate in the circumferential direction about the longitudinal axis L. It is axial from the joint seat 26 of the swivel joint 15 up to the adjacent edge of the limb adjacent to the adjacent limb 2 extends. In plan view is the shape of the jacket section 25 roughly rectangular. The recess 11 has a jacket section 25 corresponding or adapted contour. The recess 11 is like 2 illustrated, only in the first dome area 12 provided since the overlap in the longitudinal direction of the axial dimension of this Kalottenbereichs 12 does not exceed.

The axial dimension of the jacket section 25 and the recess 11 is preferably about 105-110% of the overlap of adjacent members 2 in the longitudinal direction L with elongated cable routing 1 , The angular or radian measure of the jacket section 25 and the recess 11 easily exceeds the maximum between the hinge connectors 5 . 6 adjustable angle of rotation about the longitudinal direction L. In the example shown, the angular dimension of jacket section corresponds 25 and recess 11 about 18% of the total angle of one of the segments 10 , say about 22 °. However, the absolute measure is among other things of the wall thickness of the segments 10 and the location of the pivot joint 15 dependent. Preferably, the pivot joint is located 15 completely within the closed shell parts 4 corresponding envelopes.

The jacket section 25 has a long edge 27 and a short edge 28 on, wherein at the short edge a pronounced fold is provided. The recess 11 has a cooperating fold on its short edge 18 to avoid a radial through gap at this height. The segment is at the long edge 10 itself also a fold, which can be continued in the area of the recess (not shown). Similarly, cooperating bevels or chamfers may be provided. The long edge 17 the recess 11 and the long edge 27 of the jacket section 25 lie in a plane perpendicular to the pivot axis of the pivot joint 15 ,

3 - 4 finally show at the recess 11 opposite end of the segment 10 a latching hook 19 , which with locking edges 21 at the jetty 20 interacts. The stop edges 21 are approximately parallel to the short edge 28 of the jacket section 25 and opposite to this on the jetty 20 intended. The latching hook 19 has a bevel, which by means of a bevel on the jacket section 25 With a tool, such as a screwdriver, can be engaged behind the latched segment 10 aufzuschwenken. The jacket section 25 thus also serves as an abutment for the tool when opening the adjacent segment 10 ,

As can be seen from the consideration of 1A - 1B can close close the jacket sections 25 the protective function of the segments 10 such that, in particular in an angled position (not in 1A - 1B shown), no unwanted openings in the shell parts 4 available.

LIST OF REFERENCE NUMBERS

1

 wiring

2

 element

3

 inner part

4

 jacket part

5, 6

 Adjustable connector

7

 guide channel

10

 segment

11

 recess

12, 14

 Kalottenbereiche

15

 pivot

16

 pivot pin

17

 long edge

18

 short edge

19

 latch hook

20

 web

21

 catch edge

25

 Coat section

26

 joint Taping

27

 long edge

28

 short edge

29

 surface

L

 longitudinal direction

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 202012001760 U1 [0002]
• WO 2004/093289 [0002, 0004, 0004]
• DE 202012001760 [0002, 0003]
• DE 102010032920 [0003]
• WO 2004/093279 [0023]

Claims (11)

Wiring ( 1 ) with each multi-axially articulated against each other, articulated links ( 2 ), which in the longitudinal direction (L) of the wiring ( 1 ) are arranged one behind the other and each - an inner part ( 3 ) with corresponding multi-axis articulated joints ( 5 . 6 ); and - a jacket part ( 4 ) with at least one pivotable segment ( 10 ) for limiting the circumference of a swung-open segment ( 10 ) accessible guide channel ( 7 ); wherein for the storage of the pivotable segment ( 10 ) a swivel joint ( 15 ) on a transverse to the longitudinal direction (L) of the inner part ( 3 ) above bridge ( 20 ), characterized in that adjacent members ( 2 ) with their shell parts ( 4 ) overlap in the longitudinal direction (L); and that a stationary casing section ( 25 ) at the pier ( 20 ) is provided for closing a matching recess ( 11 ) in the pivotable segment ( 10 ), which pivoting over an overlapping casing part ( 4 ). Cable guide according to claim 1, characterized in that the stationary casing section ( 25 ) axially to the pivot joint ( 15 ) offset at the bridge ( 20 ) is provided and in the circumferential direction and axially from the pivot joint ( 15 ) extends to the adjacent member. Cable guide according to claim 1 or 2, characterized in that the axial dimension of the jacket section ( 25 ) and the matching recess ( 11 ) at least the overlap of adjacent members ( 2 ), measured in the longitudinal direction (L) with elongated cable routing ( 1 ), corresponds. Cable routing according to claim 1, 2 or 3, characterized in that the angular dimension of the jacket section ( 25 ) and the matching recess ( 11 ) in the circumferential direction at least the maximum angle of rotation of the joint connector ( 5 . 6 ) corresponds to the longitudinal direction (L) and preferably in the range of 10% to 25% of the total angular extent of the segment ( 10 ) lie. Cable guide according to one of claims 1 to 5, characterized in that the jacket section ( 25 ) and the matching recess ( 11 ) one or more edges ( 28 ), on which cooperating folds and / or chamfers are provided. Cable guide according to one of claims 1 to 6, characterized in that the jacket section ( 25 ) and the matching recess ( 11 ) each have a circumferentially extending long edge ( 27 ), which in a plane perpendicular to the pivot axis of the pivot joint ( 15 ) runs. Cable guide according to one of claims 1 to 6, characterized in that the jacket section ( 25 ) in one piece with the web ( 20 ) or molded to this. Cable guide according to one of the preceding claims, characterized in that the inner part ( 3 ) of each limb ( 2 ) corresponding cardan or ball joint-like joint connectors ( 5 . 6 ) having. Cable guide according to claim 8, characterized in that each segment in the longitudinal direction (L) in two spherical Kalottenbereiche ( 12 . 14 ), the first dome area ( 12 ) has a ball center which is substantially at the center of the joint connector ( 5 ) on the inner part ( 3 ) and the second dome area ( 14 ) the first dome area ( 12 ) of the adjacent member ( 2 ) can at least partially accommodate; that the matching recess ( 11 ) exclusively in the first dome area ( 12 ) is provided and that the jacket section ( 25 ) one the first dome area ( 12 ) complementary spherical surface ( 29 ) having. Cable routing according to claim 9, characterized in that the webs ( 20 ) extend radially outwards and in each case with a component in the longitudinal direction (L) and the pivot joint ( 15 ) with respect to the shell part ( 4 ) from the stationary casing section ( 25 ) to the second dome area ( 14 ). Cable routing according to one of the preceding claims, characterized in that each web ( 20 ) to each segment ( 10 ) exactly one fixed jacket section ( 25 ) and the shell part ( 4 ) each member several, in particular three identical and integrally produced segments ( 10 ) and on the inner part ( 3 ), in particular at the central longitudinal section of the inner part, rotationally symmetrical a corresponding number, in particular three webs ( 20 ), are integrally formed.

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