EP3065917A1 - Line guiding device and industrial robot with such a line guiding device - Google Patents
Line guiding device and industrial robot with such a line guiding deviceInfo
- Publication number
- EP3065917A1 EP3065917A1 EP14795610.6A EP14795610A EP3065917A1 EP 3065917 A1 EP3065917 A1 EP 3065917A1 EP 14795610 A EP14795610 A EP 14795610A EP 3065917 A1 EP3065917 A1 EP 3065917A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- line
- supply line
- manipulator arm
- section
- arm
- 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- Withdrawn
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
Definitions
- the invention relates to a cable routing device for guiding at least one supply line along a manipulator arm, which comprises a plurality of links connected by at least three joints.
- the invention also relates to an industrial robot comprising a robot controller, which is designed and / or arranged to carry a robot program, a manipulator arm having at least three joints that are automatically or in accordance with the robot program in a hand driving operation can be adjusted automatically, and ⁇ facing at least one line guide device.
- a power supply device for industrial robots comprising a housing in which a portion of a power supply line is guided for length compensation and a lid, which between a first position in which the lid an access opening to the guided in the housing Section of the energy supply ⁇ line releases and a second position in which the lid covers the access opening, is mounted by bearing means be ⁇ delay of the housing adjustable.
- the bearing means are adapted to adjust the lid while maintaining the orientation of the lid plane in the first and second positions.
- a clamp is attached to a holding portion of the power supply device. The clamp clamps individual cables and fixes them in a fixed position relative to the energy supply device.
- the individual lines are combined into a common energy supply line surrounded by a protective tube.
- the protective tube ends at a clamp, which is held at a distance of an arm of an industrial robot by means of a hose holder.
- the clamp forms one Holder for fixing a fixed line section.
- the Gleit Resultssschelle forms a guide for the radial bearings of an extendable line section.
- the clamp and the Gleit Operationssschelle are only connected via a thin-walled lower part of a housing.
- An Ab ⁇ section of the power supply line is guided U-shaped spring-biased in the housing of the power supply device.
- the object of the invention is to provide alogies arrangementsvorrich- processing for guiding at least one supply line along a manipulator, comprising a plurality of connected by at least three joints elements specify which has a lan ⁇ ge life, in particular wear operated ben can be and / or can be operated under a small footprint on an industrial robot.
- Another object of the invention is to provide a corresponding industrial robot with such a routing device.
- the object of the invention is achieved by the Line guide device for guiding at least one supply line along a manipulator, comprising a plurality of connected by at least three joints members aufwei ⁇ send:
- Minim ⁇ least to attach at least one holder which is formed an in particular fixed line section of the supply line to at least one of the members of the manipulator arm, and
- a controllable drive device which is designed to actively adjust at least one other, in particular bewegli ⁇ chen line section of the supply line relative to the manipulator arm.
- Cable routing devices can generally be formed from one or more connected or separate subcomponents, which in functional interaction determine the arrangement, in particular position, orientation, position, orientation and / or the distance of a supply line with respect to the links and joints of a manipulator arm, in particular ei ⁇ nes industrial robot , May include the device to a cable routing and management memory devices, which may be formed, supply line part lengths of the Versor- or obtaining a plurality of supply lines and / or output to provide an effective, that is, along the manipulator arm current effective length of theéesslei ⁇ tung or the supply lines to shorten and / or extend.
- the lines such as electrical lines, cold and / or hot ⁇ can water lines, fluid and / or pressure lines include, which are necessary or desired to tools that by a manipulator an industrial robot worn, moved and / or controlled to be able to provide with appropriate forms of energy.
- the supply lines, particularly power lines may be kept gen of an inventivetechnische-in-semiconductor-in-semiconductor-in-semiconductor-inductor tubes, or ⁇ play as flexible corrugated pipes and corrugated hoses, to actively move to be able to adjust that.
- the supply line or one of the supply lines may also be a robot cable set, which includes electrical power supply lines, possibly also signal lines to one or more of electrical drives of the industrial robot.
- Manipulator arms with associated robot controls are working machines that can be equipped with tools for the automatic handling and / or machining of objects and that can be programmed in several axes of motion, for example with regard to orientation, position and workflow.
- Industrial robots usually comprise a manipulator arm with several joints associated members and programmable Robotersteue ⁇ extensions (control means) that automatically controlled or regulated during operation, the movements of the manipulator arm.
- the links are moved via drives, in particular electric drives, which are controlled by the robot control, in particular with respect to the axes of movement of the industrial robot, which represent the degrees of freedom of movement of the joints.
- Manipulator arms to which a ceremoniessone- according to the invention may be attached approximately device, such as a rack and a relative to the frame by means of a Ge ⁇ Lenk rotatably mounted carousel may comprise at which a rocker is mounted pivotably by means of another joint.
- an arm jib can be pivotally mounted on the rocker by means of a further joint.
- the arm jib carries a robot hand, in which respect the arm jib and / or the robot hand can have a plurality of other joints.
- a plurality of members connected by joints having Ma ⁇ can nipulatorarm as an articulated robot having a plurality of serially arranged one after the limbs and joints may be configured, in particular, the manipulator arm can be designed as a six-axis articulated robot.
- a holder is at least adapted to attach at least ei ⁇ NEN solid line section of the supply line to at least one of the members of the manipulator arm, and a controllable drive device is provided which is formed, at least one movable line ⁇ portion of the supply line active to adjust relative to the manipulator arm ,
- the arrangement in particular position, orientation, position, orientation and / or the distance of the supply line or at least the distance of a partial length, ie a line section of theehrslei ⁇ tion with respect to the links and joints of the manipulator arm, in particular the industrial robot can be set automatically.
- Such an automated setting means that the supply line or at least a partial length, ie a line section of the supply line assumes a predetermined arrangement, in particular position, orientation, position, orientation and / or a predetermined distance to the links and joints of the manipulator arm, in particular of the industrial robot, without making the force of gravity and / or acceleration forces generated by movement of the manipulator arm an impact, in particular a significant influence on the arrangement, in particular Posi ⁇ tion, orientation, position, orientation and / or the distance to the limbs and joints of the manipulator arm ,
- the supply line or at least a partial length, ie a line section of the supply line ⁇ be actively positioned.
- Such an active Ver ⁇ position of the supply line can in particular in dependence on the joint positions, ie in function of the pose of the manipulator arm.
- an active adjustment of the supply line can be carried out in dependence on a robot program.
- a control for driving the drive device of the wiring guide Vor- be synchronized with a robot controller, which controls the manipulator arm.
- a controllable drive device is thus understood to mean an active movement device which covers the supply line or at least a partial length, i. actively displaces a line section of the supply line, i. forcibly adjusted, and not only by passive means, such as spring devices or gravity and / or acceleration influences moves.
- the cable guide device can be completely fastened to the manipulator arm or fastened.
- only a single sub-components of the management can be guiding means to be attached to the manipulator arm, or be attached and at least one Operakomponen ⁇ te, be such as a Kirsabterrorisms appointedvor- direction, particularly a storage drum, separated by the manipulator arm attached or mounted.
- the separate component part, such as the cut Kirsab ⁇ storage device, in particular the storage drum can, however, local drains, that is mounted in an immediate spatial vicinity of the manipulator arm and mounted to be.
- a controllable invention under a controllable invention
- the cable routing device may have a supply line which has a line start section, a line end section and an intermediate line section therebetween, wherein wherein the routing device comprises a first holder, which is designed to fix the beginning of the line section of the supply line to one of the links of the manipulator arm and a second holder, which is formed, the lead end portion of the supply line to another of the links of the manipulator arm to Fixed To ⁇ gene and the controllable drive device is designed to actively adjust at least a portion of the intermediate line section relative to the manipulator arm.
- the beginning of the line portion may be a beechi ⁇ ger section of the supply line in general, but the beginning of each follows the line intermediate portion.
- the line end section can generally be a beechi ⁇ ger section of the supply line, which, however, connects to the intermediate line section end.
- the first holder and / or the second holder each of which is adapted to be buildin ⁇ Untitled to a member of the manipulator arm, or to be attached, can optionally take place at a primary part of the manipulator arm also ei ⁇ nem flange of the manipulator arm, or be attached to a supported by Manipula ⁇ torarm tool or be attached.
- a flange of the manipulator arm, or even the door arm carried by Manipula ⁇ tool itself is understood to be a member of the manipulator arm, on which the first and / or second holder is attached.
- the intermediate line section can be secured so far by the Lei ⁇ tung initial portion and the lead end portion of the manipulator arm, wherein the Kirs subscribeab- is cut, for example in the form of a loop or a Wi ⁇ ckels movable along the manipulator arm arranged more or less close to the contour.
- the controllable Antriebsvor ⁇ direction can be formed, this line intermediate section or this loop or this winding ak ⁇ tively with respect to the manipulator arm to adjust.
- a partial length of the supply line or a partial length of the lead intermediate portion by the controllable at ⁇ drive device in its effective length can for example be changed comparable, or be more or less active wound or unwound around a limb of the manipulator arm, or, for example, with respect to the longitudinal extension of a or more limbs of the manipulator arm wrapped and / or ver ⁇ drillt. All this, however, by an active adjustment of the drive device belonging to the line guide device and not by a movement of a driven joint of the manipulator arm itself.
- the routing device may device comprise a Kirsabterrorisms Grande- formed, a partial length of the supply line, in particular the plins surgeab ⁇ section within a predetermined radius space to spei ⁇ manuals and by means of the controllable drive device is a stored partial length of the supply line, in particular the Active line intermediate section from the storage space and / or a befindlichem outside the storage space ⁇ part length of the supply line, in particular the line intermediate section in the storage space actively len.
- the line segment storage device is designed to shorten and / or extend an effective length of the supply line.
- an active change in length of the effective guided along the manipulator arm can seeds give the length of the supply line.
- the supply line can be guided along the contour of the manipulator arm in each of joint positions or pose.
- the supply line can be guided very close to the manipulator arm along, so that a collision contour of the manipulator arm is not substantially increased.
- the actual playback sturgeon ⁇ contour of manipulator arm and supply line for each joint position or pose of the manipulator arm is at least ⁇ be known.
- the storage space may for example be a box with a cavity, whose outer walls having a fixed sturgeon ⁇ outline, which is known and does not change, regardless of the extent to which a partial length of the supply line is present in the memory space.
- the line section memory device may include a rotatably mounted by means of the drive device storage drum which is designed to handle by adjustment of the storage drum with ⁇ means of the drive device, a partial length of the supply ⁇ line, in particular the conduit intermediate portion of the storage drum and / or to the Wind storage drum.
- the storage drum can thus be designed, for example, in the manner of a cable drum, on which a variable part ⁇ length of the supply line is wound.
- the storage drum can be arranged and / or stored with its drum rotation axis coaxial with the axis of rotation of a pivot joint of the manipulator arm or it can be arranged and / or stored with its drum rotation axis extending parallel and / or coaxially to a longitudinal extent of a limb of the manipulator arm on the manipulator arm.
- the befindli ⁇ che in the storage drum part length of the supply line can wrap around a limb extent of the manipulator arm approximately example, in the second execution itself.
- the line section storage device may have a fastening and / or storage device which is designed to consolidate or store the line section storage device in the region of one of the at least three joints of the manipulator arm , which in a kinematic chain of the links and joints of the manipulator arm at least another of the at least three joints is upstream of the associated one of the storage deviceönsab ⁇ cut joint in the kinematic chain and at least another of the at least three joints downstream from the associated one of the Kirsabitesspei ⁇ chervorraum joint in the kinematic chain.
- the line section memory device either leading to the upstream joint part length of the supply line and / or leading to the downstream joint part length of theestablishedslei ⁇ processing function of the position may reduce one or more of Ge ⁇ joints of the manipulator arm and / or extend. Shortening and / or lengthening can be done not only in this embodiment, but also generally such that a tensile stress in the supply line or a bend the supply line is at least reduced or even completely avoided.
- the plurality of members connected by joints having ma- nipulatorarm may be configured in particular as an articulated robot having a plurality of serially arranged one after the limbs and joints, one particular Manipula ⁇ may door arm as a six-axis articulated robot to be formed.
- the line section storage device may be configured, in particular the drive device may be controllable to output a partial length of the supply line, in particular the intermediate line section depending on the position of the at least one upstream joint and / or the position of the at least one downstream joint active from the storage space and / or in Obtain the storage space or actively unwind from the storage drum and / or wind up on the storage drum.
- the routing device may be configured to guide the umbilical outside the manipulator arm near the manipulator arm, particularly to guide the umbilical outside the manipulator arm to the manipulator arm by having the umbilical device a fastener that secures the umbilical device to the manipulator arm and the controllable drive ⁇ device formed, in particular is controlled such that the supply line outside the manipulator arm chirrah the manipulator arm is forcibly set.
- the drive device can be designed in all versions, in particular be controlled such that the supply line outside the manipulator arm with respect to ih ⁇ rer angular position with respect to the manipulator arm and / or ⁇ their distance to the manipulator, in particular Konturnah the manipulator arm out.
- the supply line for example, substantially parallel to the longitudinal extension of one or more of the members of the manipulator arm by the controllable drive device ge ⁇ provides, and / or are made at an angle to the outer surface of one or more of the limbs of the manipulator arm, and / or be wrapped around one or more of the links of the manipulator arm in one or more turns.
- the cable routing device may comprise a control device which is designed and / or arranged to control the drive device such that the
- Supply line is optimally adjusted at least within a portion of the supply line or over its entire length with respect to tensile stresses in the supply line and / or bending stress of the supply line.
- an optimized adjustment in particular can be understood that the tensile stresses in the supply line and / or bending stress on the supply line over a passive arrangement of the supply line, in particular during the movement of the manipulator arm to be redu ⁇ sheet.
- an optimization can also consist in an at least substantial or even complete constant maintenance of existing tensile stresses and / or bending stress.
- the invention also relates to an industrial robot comprising a robot controller, which is designed and / or directed one to run a robot program, a manipulator arm having at least three joints, the automated according to the Robo ⁇ terprogramms or au ⁇ matically adjustable in a manual drive mode, and comprising at least one routing device according to one or more of the disclosed embodiments of Kausmod- tion devices according to the invention.
- a plurality of members connected by joints having Ma ⁇ may be configured as an articulated robot having a plurality of nipulatorarm SERI eil successively arranged limbs and joints, particularly the manipulator arm can be designed as a six-axis articulated robot.
- the manipulator arms of the industrial robot to which a cable routing device according to the invention can be fastened, can comprise, for example, a frame and a carousel rotatably mounted relative to the frame by means of a joint, on which a rocker is pivotally mounted by means of another joint.
- an arm boom can be attached by means of another joint be mounted pivotally.
- the cantilever arm carries it, a robot hand, wherein the extent of the cantilever arm and / or the Ro ⁇ boterhand may have more additional joints.
- the routing device-addressing control device may be configured and / or adapted to the driving device of the line guide device in dependence on the movements of the manipulator arm, in particular in dependence on the position, in particular the angular position of one or more of the joints of the manipulator arm ⁇ control ,
- the manipulator can be a frame, comprising a relative to the frame by means of a first hinge rotatably mounted carousel, as well as comprise a pivoting ⁇ bar mounted on the carousel by means of a second articulation rocker, at the ih ⁇ hand, by means of a third articulation, a cantilever arm is pivotally mounted, wherein the cantilever arm carries a robot hand and may have meh ⁇ eral more joints of the cantilever arm and / or the robot hand.
- the cable routing device may comprise a line section storage device, in particular a line section storage device according to one or more of the disclosed embodiments of line section storage device according to the invention, in any combination, in the region of the third, the rocker pivotally connected to the arm boom, in particular on a is attached to the two members directly connected by the third joint.
- the line section storage device may be a storage medium storage device.
- mel particularly a storage drum according to one or meh ⁇ eral of the disclosed embodiments of the present invention storage drums have, in any of the combinations aligned with its drum axis of rotation coaxial with the axis of rotation of drit ⁇ th, the rocker with the cantilever arm pivotally connecting joint, arranged on the manipulator arm, the ⁇ particular is rotatably mounted on one of the two members directly connected by the third joint.
- FIG. 2 shows the industrial robot according to FIG. 1 in a modified pose with the first embodiment of the line-guiding device
- FIG. 2 shows the industrial robot according to FIG.
- Fig. 3 shows the industrial robot of FIG. 1 in another
- FIG. 4 shows a partial view of the exemplary manipulator arm according to FIG. 1 with the cable routing system of FIG. direction according to a first embodiment in plan view
- Fig. 5 is a partial perspective view of the example ⁇ exemplary manipulator arm of Fig. 1 in the region of the robot hand with the cable guide apparatus according to the second embodiment, and
- FIG. 6 shows a perspective partial view of the exemplary manipulator arm according to FIG. 1 in the region of FIG.
- FIG. 1 shows a manipulator arm 1 and a robot controller 2 of an industrial robot 3.
- the Manipula ⁇ door arm 1 has in the illustrated embodiment, a Ge ⁇ stell 5.
- a carousel 7 is rotatably mounted about a first, in particular vertical axis AI.
- a first motor Ml By means of a first motor Ml, the carousel 7 can be rotated automatic ⁇ table.
- a rocker 9 is pivotally mounted about a second, in particular horizontal axis A2.
- the rocker 9 can be automatically pivoted about the axis A2 by a constructive predetermined angle.
- the rocker 9 carries a
- the arm extension 11 is rotatably mounted on the rocker 9 about a third axis A3.
- a third motor M3 By means of a third motor M3, the arm boom 11 can be rotated automatically.
- the arm boom 11 has a fourth axis A4, around which the arm can be automatically rotated along its longitudinal extent by a fourth motor M4.
- Arm boom 11 also carries a robot hand 13, which has a fifth axis A5 and a sixth axis A6.
- the fifth axis A5 and the sixth axis A6 may also be referred to as hand axes.
- the fifth axis A5 can mit- automatically moved by means of a fifth motor M5.
- the sixth axis A6 can be auto matically ⁇ moved by means of a sixth motor M6.
- the frame 5, the carousel 7, the rocker 9, the arm extension 11 and the wrists of the robot hand 13 form the links G1-G7 of the manipulator arm 1.
- Each of the links G1-G7 is provided with a adjacent member G2-G6 connected by a joint Ll-L6.
- Each joint L1-L6 is assigned one of the axes A1-A6.
- the industrial robot 3 has the robot controller 2, which is designed and / or arranged to carry a robot program, the joints L1-L6 of the manipulator arm automated 1 ge ⁇ Gurss of the robot program or automatically in a hand ⁇ driving by driving of the motors M1-M6 to adjust.
- the robot controller 2 which is designed and / or arranged to carry a robot program, the joints L1-L6 of the manipulator arm automated 1 ge ⁇ Gurss of the robot program or automatically in a hand ⁇ driving by driving of the motors M1-M6 to adjust.
- the robot controller 2 which is designed and / or arranged to carry a robot program, the joints L1-L6 of the manipulator arm automated 1 ge ⁇ Telss of the robot program or automatically in a hand ⁇ driving by driving of the motors M1-M6 to adjust.
- the manipulator arm 1 is a robot controller 2, which is designed and / or arranged to carry a robot program, the joints L1-L6 of the manipulator arm automated 1 ge
- the first routing device 14 has a first controllable drive ⁇ device 16.
- the second line guide device 15 has a second controllable drive device 17. Both the first controllable drive device 16 and the second controllable drive device 17 are connected to a control device 18.
- the control device 18 is a separate from the robot controller 2 control. However, the control device 18 may be identical to the robot controller 2 in another variant, not shown, or may be formed together.
- the line guide device 14, 15 For carrying at least one supply line 19 along the manipulator arm 1, the line guide device 14, 15 has at least one holder 20, 21, 22, which has is formed to attach at least one fixed line portion 19a of the supply line 19 to at least one of the members G1-G7 of the manipulator arm 1.
- each line guide device 14, 15 each have a controllable drive device 16, 17 which is designed to actively adjust at least one movable line section 19b of the supply line 19 relative to the manipulator arm 1.
- the supply line 19 may include power lines, ie energy supplies, which may include lines, for example electrical lines, cold and / or hot water lines, fluid and / or pressure lines, which are necessary or desired to tools that from the manipulator arm 1 be carried by the industrial robot 3, moved and / or controlled to be able to provide with appropriate forms of energy.
- the supply lines 19, in particular energy lines can be held in individual strands or in cable bundles, in particular with protective tubes, such as flexible corrugated tubes or corrugated tubes, by a line guide device 14, 15 according to the invention in order to be able to move, ie adjust, actively.
- the robot controller 2 or, as shown in the embodiments of FIGS. 1 to 3, a control device 18 that controls the line guide device 14, 15 and is separate from the robot controller 2, is designed and / or configured, the drive devices 16, 17 of the line guide device 14, 15 in dependence on the movements of the manipulator arm 1, in particular as a function of the position, in particular ⁇ special angle position of one or more of the joints L1-L6 of the manipulator arm 1 to control.
- the first routing device 14 has a line section storage device 23.
- the cable Sectional storage device 23 is in the region of the third, the rocker 9 pivotally connected to the arm arm 11 connecting joint L3, in particular at one of the two directly connected by the third joint L3 connected members G3, G4.
- the line section storage device 23 of the first line guide device 14 has in the illustrated embodiment, a storage drum 24, with its drum rotation axis T coaxial with the axis of rotation A3 of the third, the rocker 9 pivotally connected to the arm arm 11 joint L3 aligned, arranged on the manipulator arm 1, in particular one of the two directly connected by the third joint L3 members G3, G4 is rotatably mounted.
- An exemplary length of a supply line 19 has a line start section 19.1, a Needlessendab ⁇ section 19.3 and an intermediate line section 19.2 lying therebetween.
- the line guide device 14, 15 in this case has a first holder 20, 21, which is formed from ⁇ , the line start portion 19.1 of the supply line 19 ⁇ to attach to one of the links G1-G7 of the manipulator arm 1 and a second holder 20, 22, which is designed to fasten the line end section 19.3 of the supply line 19 to another of the links G1-G7 of the manipulator arm 1.
- the controllable At ⁇ drive device 16, 17 is formed thereby to displace at least a portion of the conduit intermediate portion 19.2 relative to the manipulator arm 1 is active.
- the cut secretsab ⁇ storage device 23 is formed, a partial length of the supply line 19, in particular of the line portion between ⁇ 19.2 within a predetermined storage to store cheraumes 25th This is done by means of the Baren drive device 16 a stored partial length of the supply line 19, in particular the Kirs fundamentalab ⁇ section 19.2 actively output from the storage space 25 and / or located outside of the storage space 25 partial length of the supply line 19, in particular the Lei ⁇ tungs fundamentalabitess 19.2 actively hauled into the storage space 25.
- the line section storage device 23 has for this purpose a rotatably mounted by means of the drive device 16 storage drum 26 which is formed by adjusting the storage drum 26 by means of the drive device 16 a partial length of the supply line 19, in particular the intermediate line section 19.2 unwind from the storage drum 26 and / or on the storage drum 26 to wind up.
- the pipe section storage device 23 is a partial length of the supply line 19, in particular the Lei ⁇ tung intermediate portion is formed to actively dispense 19.2 depending on the position of the at least one downstream in the exemplary embodiment the joint L6 from the spoke area 25 and / or to catch up with the storage space 25 or actively unwind from the storage drum 26 and / or wind it up on the storage drum 26.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201310222453 DE102013222453A1 (en) | 2013-11-05 | 2013-11-05 | Routing device and industrial robot with such a routing device |
PCT/EP2014/073746 WO2015067622A1 (en) | 2013-11-05 | 2014-11-04 | Line guiding device and industrial robot with such a line guiding device |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3065917A1 true EP3065917A1 (en) | 2016-09-14 |
Family
ID=51868220
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14795610.6A Withdrawn EP3065917A1 (en) | 2013-11-05 | 2014-11-04 | Line guiding device and industrial robot with such a line guiding device |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3065917A1 (en) |
DE (1) | DE102013222453A1 (en) |
WO (1) | WO2015067622A1 (en) |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3434899A1 (en) * | 1983-10-19 | 1985-05-23 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | DEVICE FOR OUTSIDE HOLDING AND LEADING SUPPLY CABLES TO MOVING TOOLS OF MANIPULATORS |
DE10141366A1 (en) * | 2001-03-16 | 2002-10-02 | Ernst & Engbring Gmbh & Co Kg | Arrangement for guiding and/or clamping cable loom, especially for robot, has guide element that guides cable loom and guide device for movably holding guide element |
JP4653427B2 (en) * | 2004-06-30 | 2011-03-16 | ファナック株式会社 | Torch cable processing structure of arc welding robot |
DE102005053030B4 (en) * | 2005-11-07 | 2009-02-26 | Siemens Ag | Device for guiding a cable |
WO2009068239A1 (en) * | 2007-11-26 | 2009-06-04 | Leoni Protec Cable Systems Gmbh | Device for guiding and retrieving a hose having at least one supply line |
DE102008011383A1 (en) | 2008-02-27 | 2009-09-10 | Kuka Roboter Gmbh | Energy supply device for industrial robots and industrial robots with such an energy supply device |
DE102009043448A1 (en) * | 2009-09-29 | 2011-04-07 | Siemens Aktiengesellschaft | robotic assembly |
DE202011004786U1 (en) * | 2011-04-01 | 2011-07-08 | Igus Gmbh | Guidance system for supply lines and robots with guidance system |
-
2013
- 2013-11-05 DE DE201310222453 patent/DE102013222453A1/en not_active Withdrawn
-
2014
- 2014-11-04 EP EP14795610.6A patent/EP3065917A1/en not_active Withdrawn
- 2014-11-04 WO PCT/EP2014/073746 patent/WO2015067622A1/en active Application Filing
Non-Patent Citations (2)
Title |
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None * |
See also references of WO2015067622A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2015067622A1 (en) | 2015-05-14 |
DE102013222453A1 (en) | 2015-05-07 |
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