EP2155445A2 - Dispositif de guidage de lignes d'alimentation le long de la structure d'un robot industriel - Google Patents

Dispositif de guidage de lignes d'alimentation le long de la structure d'un robot industriel

Info

Publication number
EP2155445A2
EP2155445A2 EP08757934A EP08757934A EP2155445A2 EP 2155445 A2 EP2155445 A2 EP 2155445A2 EP 08757934 A EP08757934 A EP 08757934A EP 08757934 A EP08757934 A EP 08757934A EP 2155445 A2 EP2155445 A2 EP 2155445A2
Authority
EP
European Patent Office
Prior art keywords
section
supply lines
guided
length compensation
pivot point
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.)
Withdrawn
Application number
EP08757934A
Other languages
German (de)
English (en)
Inventor
Steffen Philipp
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP2155445A2 publication Critical patent/EP2155445A2/fr
Withdrawn legal-status Critical Current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

Definitions

  • the invention relates to a device for guiding supply lines along the structure of an industrial robot. It comprises a device section serving for length compensation for movements of a plurality of robot axes.
  • Industrial robots are regularly used in complex work environments for positioning and / or controlling tools; They are characterized by their special spatial flexibility compared to conventional machines. This flexibility is limited by lines running on the robot structure.
  • Such lines consist of cables and / or hoses that carry electrical current and / or fluids - such as air and water - and supply, for example, arranged on the robot hand tools and / or measuring devices with energy, cooling and / or data; they are referred to in this document as supply lines.
  • supply lines consist of cables and / or hoses that carry electrical current and / or fluids - such as air and water - and supply, for example, arranged on the robot hand tools and / or measuring devices with energy, cooling and / or data; they are referred to in this document as supply lines.
  • the aforementioned limitations of flexibility are based on two main factors: the limited length compensation and the interference contour of the supply lines.
  • the maximum length compensation limits movements of the axes of the industrial robot.
  • the often considerable, hardly predictable interference contour further restricts the remaining range of motion, depending on the complexity of the work environment and the workpiece.
  • Previous guide devices for supply lines are regularly arranged along the robot structure.
  • the supply lines are usually led outside the robot structure in a surrounding protective tube.
  • various types of supply lines are typically routed.
  • holding parts To guide the supply lines attached to the robot structure holding parts are used. These holding parts regularly have at the robot structure fixed angle plates and arranged on these clamp and trumpet elements, the latter two serve for actually holding and guiding the supply lines; occasionally holding parts are also designed as molded parts.
  • length reserves are usually arranged between or after such holding parts.
  • the length reserves are regularly formed as contractible, circular loops or slidable, U-shaped loops.
  • compression springs are used regularly, which usually have a helical structure and regularly surround a surrounding the supply lines protective hose; occasionally also leaf springs are used.
  • a guide device which leads supply lines along the structure of an industrial robot to the hand to the front.
  • a circular loop is provided, which is surrounded by a helical compression spring.
  • the length reserve arises because the circular loop can contract; It serves for length compensation for movements of several robot axes.
  • a disadvantage of this device is that the loop must still have the minimum dynamic bending radius in the contracted state, whereby an unfavorable ratio between length compensation and interference contour arises. By remaining rolling movements in the region of the circular loop, the interference contour is also only limited calculable; it can come to a rubbing on the robot swing.
  • a guiding device which leads supply lines along the structure of an industrial robot to the hand of the latter to the front.
  • a loop hanging down in the rear region of the robot arm is provided.
  • the length reserve arises because the hanging loop can contract and / or move; It serves for length compensation for movements of several robot axes.
  • a disadvantage of this device are the considerable interference contour above the robot arm and in the region of the hanging loop and remaining rolling movements in the region of the hanging loop.
  • a guiding device which leads supply lines along the structure of an industrial robot to the hand to the front.
  • a U-shaped loop is provided, which is guided in a round tube with lateral longitudinal opening.
  • the length reserve arises because the approximately U-shaped arc can move in the open region of the round tube section and laterally of this section at approximately constant bending radius along the lateral opening.
  • the arc can run continuously during length compensation with approximately minimum dynamic bending radius.
  • the length reserve is used for length compensation for movements of several robot axes.
  • a disadvantage of this device is that the U-shaped arc itself can not be used as a length reserve, resulting in an unfavorable relationship to the interference contour.
  • the outside of the round tube extending pipe parts are not stabilized; If these pipe parts are longer, rolling movements can occur there.
  • a disadvantage of the device is that the U-shaped arc itself can not be used as a length reserve, resulting in an unfavorable relationship to the interference contour.
  • a disadvantage of the device is that the approximately U-shaped arc itself can not be used as a length reserve, resulting in an unfavorable relationship to the interference contour.
  • a guiding device which leads supply lines along the structure of an industrial robot to the hand of the latter to the front.
  • a winding guide in the form of a double plate.
  • a loop is provided, which is surrounded by a helical compression spring. The length reserve arises because the loop can contract; It serves for length compensation for movements of several robot axes.
  • a disadvantage of the device is that the loop must still have the minimum dynamic bending radius in the contracted state, whereby an unfavorable ratio between length compensation and interference contour arises.
  • the interference contour is limited calculable; it can come to a rubbing on the robot swing.
  • a guide device which leads cables along the structure of an industrial robot. It consists of a cylindrical, rotatably mounted drum with a cylindrical interior and lateral opening, which continues the cable extending in the cylindrical interior in a first section through the lateral opening to the outside and then in a second section circular outside along the drum wall.
  • the cylindrical drum is mounted parallel to the axis of rotation of the industrial robot and coupled via a belt directly to the axis of rotation of the industrial robot.
  • the length reserve arises because the cables are wound around the drum, whereby the cable section located in the second section can be used completely as a reserve of length and can run continuously with a minimum dynamic bending radius.
  • the length reserve is used for length compensation for movements of only one robot axis.
  • a disadvantage of the device is that the cables are not exactly guided in the second subsection and are not led away from a fulcrum in the first subsection. This allows the cables to move on the drum and in the cylindrical cavity, which is why in first section dynamic bends occur and the cables, especially in the area of the lateral opening, can be damaged quickly.
  • a further disadvantage is that the device is coupled to its functioning via a belt directly to a robot axis. The device is therefore not suitable for length compensation for movements of multiple robot axes.
  • the minimum dynamic bending radius of the supply lines if it is not reached, this quickly leads to material fatigue, which prevents a long service life.
  • the less precise leadership it generally leads to moving, unpredictable interfering contours and, especially in the section of the length reserve, to irregular bending strains, so that the minimum dynamic bending radius of the supply lines in this section can only be approximated.
  • the invention has for its object to develop a device for guiding supply lines along the structure of an industrial robot, which compared to previously known remplisvorachtitch a better ratio of maximum length compensation, minimal, predictable Störkontur and long life in a length compensation for movements of multiple robot axes serving Device section allows.
  • the object is achieved by a device for guiding supply lines (2) along the structure of an industrial robot (1) which has the supply lines (2) in a device section (3) with return means (10, 11) serving for length compensation for movements of a plurality of robot axes.
  • the inventive device may be formed as an integral part of an industrial robot or as an attachment of an industrial robot.
  • the length compensating serving device portion with return means may consist of further sections.
  • the return means may at least partially consist of springs whose spring force preferably acts along the direction of movement of the supply lines in the second section.
  • the device is particularly suitable for length compensation for movements of such robot axes, which are arranged in the region of a robot arm and a robot hand.
  • the guidance in the second subsection makes it possible to guide supply lines in the first subsection with an approximately minimal static bending radius, as a result of which the interference contour, which accompanies at least a certain length compensation, is significantly reduced, depending on the nature of the supply lines. Even an exact tour in the first section is then readily possible.
  • the supply lines in the second subsection can be guided with improved utilization of the minimum dynamic bending radius in comparison with prior art devices which serve the length compensation for movements of several robot axes, whereby the interference contour at least accompanying a certain length compensation continues reduced.
  • the device according to the invention can be optimized for specific fields of application as follows: If it primarily comes down to a high length compensation, for example, the second section substantially circular over an angle of more than 360 degrees, for example about 720 degrees, in two identical arranged on the other approximately circular loops, and / or be performed with a much higher than the minimum dynamic bending radius. If it primarily comes down to a small interference contour, for example, the second portion may extend substantially circular over an angle of less than 360 degrees, for example over only 90 degrees, with a minimum dynamic bending radius. If it is primarily a long life, the second section can run with much higher than the minimum dynamic bending radius.
  • a high length compensation for example, the second section substantially circular over an angle of more than 360 degrees, for example about 720 degrees, in two identical arranged on the other approximately circular loops, and / or be performed with a much higher than the minimum dynamic bending radius.
  • the second portion may extend substantially circular over an angle of less than 360 degrees, for example over only 90 degrees, with a minimum dynamic
  • the supply lines (2) are led away from a pivot point (4) in a first section (5) and then continued in a second section (6) exactly, circularly and at a constant distance from the pivot point (4). that bends of the supply lines (2) remain static in the first section (5) even when length compensation.
  • the supply lines (2) in the first section (5) are guided in the region of the pivot point (4) in the plane through which the arc of the second section (6) extends.
  • the guide in the fulcrum can be realized, for example, by a holding part, which is designed to be rotatable and fixed to the supply lines.
  • a torsion of the supply lines in the region of the first section can be avoided. If the circular arc in the second subsection extends over an angle with many degrees, further disruptive dynamic bends can occur on the side of the fulcrum point facing away from the first subsection.
  • the aforementioned embodiment is particularly suitable for cases in which only a small length compensation is required and / or a torsion of the supply lines is very problematic.
  • the supply lines (2) in the first section (5) in the region of the pivot point (4) guided approximately perpendicular to that plane through which the arc of the second section (6).
  • the guide in the fulcrum can be realized, for example, by a holding part, which is designed to be immovable and leads the supply lines rotatably.
  • a holding part which is designed to be immovable and leads the supply lines rotatably.
  • the aforementioned embodiment is particularly suitable for cases in which a high length compensation is required and / or a torsion of the supply lines is not very problematic.
  • the opening of the molding may extend along the direction of movement of the supply lines in the second section.
  • the molded part and protective tube may have a uniform cross-section, wherein the protective tube preferably has no corresponding opening.
  • the molding and protective tube may have a circular or non-circular - for example, cuboid - cross-section.
  • a non-circular cross-section of the molded part and the protective tube is advantageous insofar as the protective tube can not rotate about its own axis in this case, whereby a whole bundle of supply lines can be performed without problems in a very largely exactly constant distance from the pivot point.
  • a longitudinal opening of the molding is preferably directed at least approximately in the direction of the pivot point.
  • the molded part may have further openings. This can be advantageous, for example, if mobility and / or exact guidance of the protective tube in the second subsection are supported by rollers connected to the protective tube, or if the molded article itself has one or more rotationally movable components.
  • the supply lines (2) in the second subsection (6) are guided in a power transmission chain (9) through a molded part (13) which has an opening (17) in the second subsection (6), through which the supply lines (2 ) in the first section (5) are also performed during length compensation.
  • the leadership of the supply lines in a power transmission chain is particularly advantageous because of the resilience of the energy chain and the simple feasibility of a strain relief.
  • the opening of the molding may extend along the direction of movement of the supply lines in the second section.
  • the molded part and the energy guiding chain can have a uniform cross section, wherein the energy guiding chain does not necessarily have a corresponding opening. By this configuration, the supply lines are protected at the same time and accurately managed.
  • the molded part and the energy guiding chain can have a circular or non-circular cross-section, for example cuboid.
  • a non-circular cross section of the molded part and the energy guiding chain is advantageous insofar as the energy guiding chain can not rotate about its own axis, whereby a whole bundle of supply lines can be guided in a very largely exactly constant distance to the fulcrum.
  • a longitudinal opening of the molding is preferably directed at least approximately in the direction of the pivot point.
  • the molded part may have further openings. This may be advantageous, for example, if mobility and / or exact guidance of the energy guiding chain in the second subsection are supported by rollers connected to the energy guiding chain, or if the molded part itself has one or more rotatable components
  • one or more compression springs (10) serve as return means.
  • coil springs can serve as compression springs.
  • Compression springs can be used without problems in the area of a length compensation required anyway.
  • derliche sectionabitess - for example between protective hose and molding - are attached.
  • the overall interference contour can be kept low.
  • protectors (12) are mounted in the region of the compression springs, through which the protective tube is movably guided; As a result, the wear on the protective tube, compression spring and molded part is reduced.
  • a torsion spring (11) serves as a return means whose axis of rotation extends through the pivot point (4) and whose rotational force acts along the arc of the second section (6).
  • torsion spring for example, serve a leg spring.
  • the return means When using a torsion spring as the return means the rest length problem described above for compression springs does not occur. By attaching the return means in the region of a required anyway for the length compensation section, the overall interference contour can be kept low.
  • the supply lines (2) following the second section (6) in a third section (7) straight and substantially exactly continued.
  • the third section is not necessarily part of the length compensation serving device portion of the device according to the invention.
  • the above-mentioned guidance in the third section can - apart from the straight course - correspond to those in the second section; it serves primarily to prevent rolling movements in the further course of the supply lines. Further advantages are associated with the aforementioned guide in particular when the return means consists of one or more compression springs. Because these can then - with appropriate design - are also compressed in this section, so that with sufficient length of the third section, the entire second section can serve as a length reserve.
  • the supply lines (2) in the third section (7) guided by a molded part (14), the protective tubes (8) and / or energy guiding chains (9) can drive different cross-section exactly.
  • the supply lines (2) in the first section (5) and second section (6) are guided continuously within a substantially closed mold part (15).
  • the supply lines (2) in the first subsection (5) and in the second subsection (6) and in the third section (7) are guided continuously within a largely closed molding (16).
  • At least one molded part (13, 14, 15, 16) designed hinged.
  • the mold parts (13, 14) are designed such that arise when unfolding asymmetric parts. In this way it can be ensured that in the case of a lateral attachment to the robot arm, the supply lines do not simply fall to the floor after the mold part / moldings have been unfolded, but must instead be removed selectively, for example, upwards.
  • FIGS. 1 to 15 show, by way of example, various embodiments of the invention. Device according to the invention.
  • FIG. 1 and 2 show an embodiment of the device section (3) according to the invention, which serves for length compensation for movements of several robot axes, in which the supply lines (2) in the first section (5) are guided in that plane in the region of the pivot point (4) through which the arc of the second section (6) extends, and in which the supply lines (2) in the second section (6) are guided in a protective tube (8) of circular cross-section through a shaped part (13) of circular cross-section, one along the Movement direction of the supply lines (2) in the second section (6) extending opening (17) through which the supply lines (2) in the first section (5) are guided during the length compensation, wherein the guide in the pivot point (4) by a holding part is realized, which is firmly connected to the supply lines and designed itself rotatable and is.
  • drawing 1 a position with unused length reserve is shown;
  • Drawing 2 shows a position with almost completely used length reserve.
  • FIG. 3 and FIG. 4 show an embodiment of the device section (3) according to the invention for length compensation for movements of several robot axes, in which the supply lines (2) in the first section (5) in the area of the pivot point (4) are approximately perpendicular to that plane through which the arc of the second section (6) passes, and in which the supply lines (2) in the second section (6) are guided in a protective tube (8) of circular cross-section through a shaped part (13) of circular cross-section, the one along the direction of movement of the supply lines (2) in the second section (6) extending opening (17) through which the supply lines (2) in the first section (5) are also performed during length compensation, wherein the guide in the pivot point (4) a holding part is realized, which is rotatably connected to the supply lines and is itself designed not rotatable.
  • drawing 3 a position with unused length reserve is shown;
  • Drawing 4 shows a position with almost completely used length reserve.
  • Fig. 5 shows an embodiment of the return means as a combination of three compression springs (10) which are mounted around a protective tube (8), in turn, the supply lines (2) surrounds, and the protectors (12) boundaries, which are also mounted around this protective tube (8).
  • Fig. 6 shows an embodiment of the return means as a torsion spring (11) which surrounds the supply lines (2) partially directly, and the axis of rotation through the pivot point (4).
  • FIG. 7 shows an embodiment of the device section (3) according to the invention, serving for length compensation for movements of several robot axes, in which the supply lines (2) in the first section (5) are guided approximately perpendicularly to the plane in the area of the pivot point (4) the arc of the second section (6) extends, and in which the supply lines (2) in the second section (6) are guided in a protective tube (8) of circular cross-section through a shaped part (13) of circular cross-section, one along the direction of movement of Supply lines (2) in the second section (6) extending opening (17) through which the supply lines (2) in the first section (5) can also be performed during length compensation, and in which the supply lines (2) following the second section (6) in a third section (7) straight and substantially exactly in a protective tube (8) circular cross-section through a molded part (14) are guided circular cross-section, which has along the direction of movement of the supply lines (2) in the third section (7) extending opening (17), and in which the guide realized in the pivot point (4) by a holding part is, which is connected in a
  • FIG. 8 shows an embodiment of the device section (3) according to the invention, which serves for length compensation for movements of a plurality of robot axes, in which the supply lines (2) in the first section (5) are guided approximately perpendicularly to the plane in the area of the pivot point (4) in which the arc of the second section (6) runs, and in which the supply lines (2) in the second section (6) are in an energy supply chain (9) of cuboidal cross section through a shaped part (13) are guided parallelepiped cross-section, the two along the direction of movement of the supply lines (2) in the second section (6) extending openings (17) through which the supply lines (2) in the first section (5) can also be performed during the length compensation, and in which the supply lines (2) following the second section (6) in a third section (7) are straight and substantially exactly continued by a molding (14) a protective tube (8) circular cross-section and a power supply chain (9) parallelepiped cross-section exactly, and in which the guide is realized in the fulcrum (4) by a holding part, which connected in a
  • FIG. 9 shows an embodiment of the device section (3) according to the invention serving for length compensation for movements of several robot axes, in which the supply lines (2) in the first section (5) are guided approximately perpendicularly to the plane in the area of the pivot point (4) the arc of the second section (6) extends, and in which the supply lines (2) in the second section (6) are guided in a protective tube (8) of circular cross-section through a shaped part (13) of circular cross-section, one along the direction of movement of Supply lines (2) in the second section (6) extending opening (17) through which the supply lines (2) in the first section (5) can also be performed during length compensation, and in which the guide in the pivot point (4) by a Holding part is realized, which is connected in a rotatable manner with the supply lines and even not rotatably mounted altet is, and in the three in the second section (6) within the molding (13) between four protective sleeves (8) surrounding protectors (12) mounted compression springs (10) serve as a return means, and in which the supply lines (2) via the first section (5) and
  • FIG. 10 shows an embodiment of the device section (3) according to the invention serving for length compensation for movements of several robot axes, in which the supply lines (2) in the first section (5) are guided approximately perpendicularly to the plane in the area of the pivot point (4) the arc of the second section (6) extends, and in which the supply lines (2) in the second section (6) are guided in a protective tube (8) of circular cross-section through a shaped part (13) of circular cross-section, one along the direction of movement of Supply lines (2) in the second section (6) extending opening (17) through which the supply lines (2) in the first section (5) can also be performed during length compensation, and in which the guide in the pivot point (4) by a Holding part is realized, which is connected in a rotatable manner with the supply lines and even not rotatable and in which a torsion spring (11) whose axis of rotation passes through the fulcrum (4) serves as a return means, and in which the supply lines (2) through the first portion (5) and the second portion (6) throughout within a closed
  • Fig. IIa and Fig. IIb show an embodiment of the invention, the length compensation for movements of multiple robot axes Vo ⁇ ichtungsab section (3), in which the supply lines (2) in the first section (5) in the region of the pivot point (4) approximately perpendicular to that Are guided level through which the arc of the second section (6), and in which the supply lines (2) in the second section (6) in a protective tube (8) of circular cross-section through a partially rotatably ausgestaltetes shaped part (13) of circular cross-section in which the supply lines (2) following the second section (6) in a third section (7) are guided straight and substantially exactly in a protective tube (8) of circular cross-section through a shaped part (14) of circular cross-section, the one along the direction of movement of the supply lines (2) in the third section (7) extending ⁇ Opening (17), and in which a torsion spring (11) whose axis of rotation passes through the pivot point (4), serves as a return means, and in which the supply lines (2) over the first section (5) and the second portion
  • FIG. 12 shows an embodiment of the device section (3) according to the invention, which serves for length compensation for movements of several robot axes, in which the supply lines (2) in the first section (5) are guided approximately perpendicularly to the plane in the area of the pivot point (4) the arc of the second section (6) extends, and in which the supply lines (2) in the second section (6) in an energy guide chain (9) cuboidal cross section through a molded part (13) are guided cuboidal cross section, the two along the direction of movement of Supply lines (2) in the second section (6) extending openings (17), wherein the supply lines (2) in the first section (5) and the length compensation through one of these openings (17) are passed through, and in which the supply lines (2 ) following the second section (6) in a third section (7) straight and substantially be continued exactly by a molding (14), which can perform a protective tube (8) circular cross-section and an energy guide chain (9) cuboid cross-section exactly, and in which the guide is realized in the pivot point (4) by a holding part, in a
  • FIGS. 13, 14 and 15 show the attachment of one embodiment of the device section (3) according to the invention, which serves for length compensation for movements of several robot axes, along the structure of the industrial robot (1).

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Feeding Of Articles To Conveyors (AREA)

Abstract

L'invention concerne un dispositif de guidage de lignes d'alimentation le long de la structure d'un robot industriel. Le dispositif comprend une section servant de compensation de longueur pour des déplacements de plusieurs axes de robot, L'invention concerne un dispositif de guidage de lignes d'alimentation (2) le long de la structure d'un robot industriel (1), dispositif qui guide de façon mobile les lignes d'alimentation (2) dans une section (3) servant à la compensation de longueur pour des déplacements de plusieurs axes de robots, au moyen de dispositifs de retour (10, 11). L'invention est caractérisée en ce que les lignes d'alimentation (2) sont guidées, dans une première section partielle (5), à partir d'un centre de rotation (4) puis, dans une seconde section partielle (6), de façon sensiblement précise et sensiblement circulaire, et sensiblement à distance constante du centre de rotation (4), de telle manière que des courbures des lignes d'alimentation (2) dans la première section partielle (5) demeurent sensiblement statiques, même durant une compensation de longueur, et que les lignes d'alimentation (2) dans la seconde section partielle (6), puissent servir, au moins partiellement, de réserve de longueur.
EP08757934A 2007-04-17 2008-04-16 Dispositif de guidage de lignes d'alimentation le long de la structure d'un robot industriel Withdrawn EP2155445A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710018543 DE102007018543B4 (de) 2007-04-17 2007-04-17 Vorrichtung zum Führen von Versorgungsleitungen entlang der Struktur eines Industrieroboters
PCT/DE2008/000623 WO2008125093A2 (fr) 2007-04-17 2008-04-16 Dispositif de guidage de lignes d'alimentation le long de la structure d'un robot industriel

Publications (1)

Publication Number Publication Date
EP2155445A2 true EP2155445A2 (fr) 2010-02-24

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EP (1) EP2155445A2 (fr)
DE (2) DE102007018543B4 (fr)
WO (1) WO2008125093A2 (fr)

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DE102009037515B4 (de) 2009-08-17 2022-03-10 Steffen Philipp Vorrichtung und Verfahren zum Führen von Versorgungsleitungen an einem Gelenkroboter
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DE202011004786U1 (de) 2011-04-01 2011-07-08 Igus Gmbh Führungssystem für Versorgungsleitungen und Roboter mit Führungssystem
FR3001177B1 (fr) 2013-01-18 2017-11-17 Leoni Cia Cable Systems Dispositif telescopique de guidage et de rappel
DE102014209684B4 (de) * 2014-05-21 2023-06-29 Siemens Healthcare Gmbh Medizinisches Untersuchungs- und/oder Behandlungsgerät
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DE102007018543A1 (de) 2008-10-23
WO2008125093A3 (fr) 2008-12-11
WO2008125093A2 (fr) 2008-10-23
DE112008001623A5 (de) 2010-04-01
DE102007018543B4 (de) 2009-02-26

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