Pipeline protection ring

Abstract

The invention relates to a line protection ring (1) for an energy supply line (17) on a robot arm (5), comprising at least one first shell part (6.1) and at least one second shell part (6.2), the shell parts (6.1, 6.2) complementarily forming a first ring body (7.1) of the line protection ring (6) during the assembly process, the first ring body (7.1) having an inner shield wall (7a), when the line protection ring (6) is arranged on the energy supply line (17) in the installed position thereof, the inner shroud wall surrounds the energy supply line (17) on the circumferential side, the first ring body (7.1) having a circumferential bearing surface (7b) arranged on the outer shroud wall thereof, on which a one-piece, circumferentially closed second ring body (7.2) is placed.

Description

Technical Field

[0001] The invention relates to a line protection ring for an energy supply line on a robot arm, comprising at least one first shell part and at least one second shell part, which, during assembly, complementarily form a first annular body of the line protection ring, the first annular body having an inner shroud wall which surrounds the energy supply line on the circumferential side when the line protection ring is arranged in its installed position on the energy supply line. Background Art

[0002] Patent document DE20100947U1 describes a wear ring for protecting a cable guide hose on a robot, the wear ring having an inner ring and an outer ring, the inner ring and the outer ring each having two half shells. The half shells of at least one ring can be locked to each other. Summary of the invention

[0003] The object of the invention is to provide a line protection ring for energy supply lines on a robot arm which, in the event of wear, can be restored easily with a low assembly effort.

[0004] The object of the invention is achieved by a line protection ring for an energy supply line on a robot arm, the line protection ring having at least one first shell part and at least one second shell part, wherein the shell parts complementarily form a first annular body of the line protection ring during assembly, the first annular body having an inner shroud wall which surrounds the energy supply line on the circumferential side when the line protection ring is arranged in its installed position on the energy supply line, wherein the first annular body has a circumferential support surface arranged on its outer shroud wall A one-piece, circumferentially closed second annular body is placed on the circumferential support surface.

[0005] The type of pipeline protection ring discussed is usually used to protect energy supply pipelines from major damage, wherein the energy supply pipeline is kept at a certain distance from the robot arm, or the energy supply pipeline is only allowed to contact the joints of the robot arm to a certain extent, more precisely, the contact is basically only carried out on the pipeline protection ring, so that on the one hand, the collision of the energy supply pipeline with the robot arm is minimized, or the energy supply pipeline should preferably only contact the joints of the robot arm with its pipeline protection ring. The pipeline protection ring can be designed to be fastened to the energy supply pipeline. That is, one or more pipeline protection rings can be fastened to the outer shield wall of the energy supply pipeline or to the protective hose of the energy supply pipeline. However, one or more pipeline protection rings can also surround the energy supply pipeline only on the circumferential side, rather than being directly fastened to the energy supply pipeline. Therefore, the first annular body can usually have an inner shield wall, which surrounds the energy supply pipeline on the circumferential side when the pipeline protection ring is arranged in its installation position on the energy supply pipeline. One or more line protection rings can be fastened, for example, to a ring or a pipe surrounding the energy supply line, ie the energy supply line is in this case passed through the ring or the pipe.

[0006] The line protection ring also forms a wear body which is intentionally designed as a contact body with the joint of the robot arm so that the inevitable collisions between the energy supply line and the robot arm, which may also include sliding movements, are carried out only through the line protection ring and thus the actual energy supply line, in particular its protective hose, is protected from damage and wear. The corresponding energy supply line can be equipped with one, two or more line protection rings, for example.

[0007] Energy supply lines are particularly energy lines and / or energy supplies, which can have lines to a tool flanged on a robot arm, such as electrical lines, cold and / or hot water lines, fluid and / or pressure lines. Energy supply lines, particularly energy lines and / or energy supplies, can be combined into a single strand or cable bundle, particularly sheathed with one or more flexible protective hoses, such as, for example, corrugated hoses. A line protection ring can, for example, be connected to the corrugated hose.

[0008] In order to allow the line protection ring on the energy supply line to be completely installed and removed as required even during installation of the energy supply line on the robot arm, the line protection ring must usually be at least two-piece. At least two half shells are usually connected to each other by known fasteners. These fasteners can be screws or rivets, optionally made of metal or plastic.

[0009] The first annular body may form an inner ring of the pipeline protection ring, which is concentrically surrounded by the second annular body as an outer ring. The first annular body comprises at least one first shell part and at least one second shell part, which complementarily form the first annular body of the pipeline protection ring during assembly.

[0010] According to the invention, the first annular body has a circumferential support surface arranged on its outer shroud wall, on which a one-piece, circumferentially closed second annular body is placed. That is, unlike the first annular body, the second annular body is not constructed in multiple parts, but in one piece. During assembly, the second annular body surrounds the first annular body on the circumferential side outside. In this regard, the one-piece second annular body is placed on the outer shroud of the first annular body. The second annular body forms the wear part of the pipeline protection ring, that is, the actual wear ring.

[0011] In this respect, the multi-part inner ring merely forms a carrier ring for fastening the entire line protection ring to the energy supply line.

[0012] In this respect, the outer ring forms a wear ring which is designed to enable the energy supply line to slide on the robot arm as friction-free or wear-free as possible. On the other hand, the second annular body, the one-piece outer ring or one-piece wear ring, is designed to provide the wear material required over time due to unavoidable wear, thereby reliably or at least largely preventing damage to the multi-part first annular body, the support ring. In this respect, the outer ring is designed to be worn away on the robot arm during normal operation in order to protect the robot arm's joints on the one hand and the inner ring or support ring from wear on the other hand.

[0013] Since the first annular body has a circumferential support surface arranged on its outer casing wall, on which a one-piece, circumferentially closed second annular body is placed, maintenance of the energy supply lines on the robot arm can be performed more easily, quickly and economically.

[0014] Firstly, the second annular body, which forms the actual wear ring, has no gaps or separation seams because it is in one piece. Since there are no gaps or separation seams on the second annular body, no edges or steps are formed, which on the one hand may themselves present a risk of increased wear and on the other hand may lead to increased wear on the surface of the robot arm.

[0015] Furthermore, since the second annular body is in one piece, no fasteners or connectors are required, which would otherwise be required to connect multiple parts. Existing fasteners or connectors also present a certain degree of risk of increased wear on the surface of the robot arm. Furthermore, the lack of fasteners or connectors is more cost-effective and reduces the number of parts in production.

[0016] In the present invention, in the case where the pipeline protection ring reaches the wear limit, the two-piece or multi-piece first annular body (carrying ring) can remain on the energy supply pipeline, and only the worn outer second annular body (wearing ring) needs to be replaced. If the worn second annular body is to be removed, it only needs to be simply pulled off the first annular body, i.e. the carrying ring, in the axial direction. Then, the second annular body pulled off the first annular body, i.e. the carrying ring, can be pulled off the energy supply pipeline or the corrugated hose of the energy supply pipeline in the axial direction. In this regard, no tools are required to loosen the fasteners or connectors so that the second annular body can be removed from the first annular body.

[0017] In general, the invention also results in a very economical line protection ring, since in the event of wear only the outer second annular body has to be replaced, while the first annular body can remain on the energy supply line, ie can continue to be used.

[0018] Pulling off a worn second annular body from the energy supply line can therefore be particularly easy since the inner diameter of the second annular body is always significantly larger than the outer diameter of the energy supply line or of the corrugated hose of the energy supply line due to the size of the first annular body.

[0019] The one-piece, circumferentially closed second annular body can be tensioned in a force-fitting manner on the circumferential supporting surface of the first annular body.

[0020] By clamping the one-piece, circumferentially closed second annular body in a force-fitting manner on the circumferential support surface of the first annular body, separate fastening or connecting elements can be omitted, i.e., in particular no tools are required to loosen the fastening or connecting elements in order to remove the second annular body from the first annular body.

[0021] The one-piece, circumferentially closed second annular body can be made of an elastomeric material. If the second annular body is made of an elastomeric material, the second annular body itself has internal elasticity and does not require a separate clamping member. The elastomeric material can be, for example, polyurethane, natural rubber or silicone rubber.

[0022] The elasticity of the second ring body can be adjusted by appropriately selecting a specific elastomeric material for the second ring body. For example, the elasticity of the second ring body should be aimed at the highest possible adhesion of the second ring body to the first ring body and at the easiest possible (manual) pull-off of the second ring body from the first ring body. The high adhesion of the second ring body to the first ring body should ensure that the second ring body does not accidentally loosen during operation of the energy supply line on the robot arm when the pipeline protection ring slides along the robot arm, but is reliably held on the first ring body due to the clamping force. The easy (manual) pull-off should ensure that the second ring body can be manually removed from the first ring body axially if necessary by a person without special tools, so that the second ring body can be easily removed in the event of wear, or the second ring body can be easily pushed axially onto the first ring body.

[0023] The one-piece, circumferentially closed second annular body can have a hollow cross section. By means of the hollow cross section, a relatively high (radial) elasticity can be achieved in the second annular body, even if the material of the second annular body has a relatively low elasticity or has a relatively high rigidity. The elasticity in the cross section can therefore be adjusted by appropriately selecting the outer diameter of the second annular body relative to the inner diameter of the hollow channel of the second annular body.

[0024] As an alternative to a hollow cross section, the second annular body can also be made of a solid material. Accordingly, the solid material can be a material that is softer than the corresponding material of the second annular body with a hollow cross section.

[0025] The one-piece, circumferentially closed second annular body can have a circular cross section.

[0026] If the one-piece, circumferentially closed second annular body has a circular cross section, the circumferential contact surface of the first annular body can be designed in the form of a cavity having a radius of curvature that is matched to the diameter of the second annular body.

[0027] In particular, when the first annular body rotatably surrounds the hose outer jacket wall of the energy supply line, it may be advantageous if the one-piece, circumferentially closed second annular body has a circular cross section. In particular, when the first annular body is rotatably mounted on the hose outer jacket wall of the energy supply line, the risk of the second annular body with a circular cross section being accidentally pulled off the first annular body when sliding over the robot arm during operation is very low.

[0028] The one-piece, circumferentially closed second annular body can have a segmented cross section.

[0029] In the case of a one-piece, circumferentially closed second annular body with an arcuate cross section, the cross-sectional profile of the second annular body comprises an arcuate, i.e. convex, outer wall section and a straight, i.e. inner wall section forming a chord of the arcuate cross section. The inner wall section faces the first annular body during assembly, i.e. the straight inner wall section abuts against the circumferential support surface of the first annular body. The convex outer wall section forms the actual wear surface of the second annular body or the entire pipeline protection ring.

[0030] The inner shield wall of the one-piece, circumferentially closed second annular body can have at least one recessed groove, and the circumferential support surface of the outer shield wall of the first annular body can have an annular protrusion corresponding to the recessed groove of the one-piece, circumferentially closed second annular body, which is engaged in the recessed groove of the one-piece, circumferentially closed second annular body in a shape-fitting manner when the one-piece, circumferentially closed second annular body is assembled on the first annular body.

[0031] By means of at least one recessed groove and at least one corresponding annular protrusion, the assembly of the first annular body and the second annular body is additionally secured in the axial direction. The recessed groove and the annular protrusion together also form a guide to ensure the precise installation position of the second annular body on the first annular body.

[0032] The circumferential support surface of the outer shroud wall of the first annular body can be designed to simultaneously accommodate at least one first, circumferentially closed second annular body which is made in one piece and at least one second, circumferentially closed second annular body which is made in one piece and is closed in one piece.

[0033] That is, instead of attaching only one second annular body, the circumferential support surface of the first annular body may also be correspondingly shaped so that two, three, four or more second annular bodies can be attached to the same first annular body.

[0034] Here, each of the plurality of one-piece, circumferentially closed second annular bodies can be located in a corresponding annular recess of the common first annular body. The plurality of annular recesses and the plurality of one-piece, circumferentially closed second annular bodies can extend parallel to each other on the circumference of the first annular body, respectively. Here, the plurality of one-piece, circumferentially closed second annular bodies can be arranged axially spaced apart from each other.

[0035] The first annular body can have fastening means which are designed to clamp the first annular body in a rotationally fixed and axially fixed manner on a hose outer jacket wall of the energy supply line.

[0036] The first annular body can have a bearing element which is designed to be rotatably mounted about a center axis of the first annular body and to axially fix the first annular body on a hose outer jacket wall of the energy supply line. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The specific features of these exemplary embodiments can be considered individually or in combination to represent the general features of the present invention when necessary, regardless of where they are specifically mentioned in this article. Among them:

[0038] Figure 1 shows a perspective view of an exemplary robotic arm with energy supply lines and associated line protection rings,

[0039] Figure 2 shows an enlarged perspective view of a section of an energy supply line in the region of a line protection ring according to a first exemplary embodiment,

[0040] Figure 3 The second annular body of one piece is pulled off from the first annular body of two pieces according to Figure 2 Schematic diagram of pipeline protection ring,

[0041] Figure 4 Shown according to Figure 2 Exploded view of the pipeline protection ring,

[0042] Figure 5 Shown according to Figure 2 A cross-sectional view of the pipeline protection ring.

[0043] Figure 6 A schematic diagram of a second exemplary embodiment of a pipeline protection ring is shown, which has a rotatably mounted two-part first ring body and a one-part second ring body with a circular cross section,

[0044] Figure 7 The second annular body of one piece is pulled off from the first annular body of two pieces according to Figure 6 Schematic diagram of pipeline protection ring,

[0045] Figure 8 Shown according to Figure 6 Exploded view of the pipeline protection ring,

[0046] Fig. 9 Shown according to Figure 6 A partial cross-sectional view of the pipeline protection ring.

[0047] Fig.10 A schematic diagram shows a third exemplary embodiment of a pipeline protection ring having a two-piece first annular body and a plurality of one-piece second annular bodies having a circular cross section, and

[0048] Fig.11 is based on Fig.10 Cross-sectional view of the pipeline protection ring. DETAILED DESCRIPTION

[0049] Figure 1 An industrial robot 1 is shown, which has a base frame 2, on which a turntable 3 is rotatably mounted around a first vertical axis A1 and driven in rotation by a first drive motor M1. A rocker arm 4 is mounted on the turntable 3 so as to be pivotable up and down around a second horizontal axis A2 and driven in rotation by a second drive motor M2. The rocker arm 4 carries a robot arm 5, which in this case is designed as a cantilever 5a, which is pivotably mounted up and down around a third horizontal axis A3 and driven in rotation by a third drive motor M3. A fourth axis A4 is provided on the cantilever 5a, which extends in the longitudinal extension of the cantilever 5a and is driven in rotation by a fourth drive motor M4 to drive a hand 5b of the cantilever 5a. A first side 8 and a second side 9 extend forward from the hand 5b in a fork shape. The two sides 8 and 9 carry a support for the free end 10 of the hand 7. The support defines a fifth axis A5 of the industrial robot 1, about which the hand 5b can be pivotally moved by a fifth drive motor M5. In addition, the hand 5 b has a sixth axis A6 in order to be able to rotatably drive the fastening flange 11 by means of a sixth drive motor M6 .

[0050] The arm 5a carries an energy supply device 12. The energy supply device 12 starts behind a connecting plate 13, which is fixedly connected to the arm 5a of the industrial robot 1. From the connecting plate 13, individual lines 14 are led to a clamping clip 15. The clamping clip 15 is fastened to the housing 18 of the energy supply device 12. The clamping clip 15 clamps the individual lines 14 and fastens them in a fixed position relative to the housing 18. The energy supply line 17 of the energy supply device 12 is guided in a U-shaped manner in the housing 18 of the energy supply device 12 in a spring-preloaded manner. In this U-shaped section and on the outlet side after the sliding guide 19 fixed to the housing 18, the individual lines 14 are combined in a common line bundle 16, in particular protected by a protective hose 20. The protective hose 20 ends in a holding device 21. As shown in the figure, the holding device 21 can be held at a certain distance from the arm 5a, for example, by a hose holder 22. The hose holder 22 can be fastened to the fastening flange 11 of the industrial robot 1 via a two-part clamping bracket 23. In the present embodiment, the energy supply line 17, in particular its protective hose 20, is provided with a plurality of, in particular as shown in the figure, two, line protection rings 6 according to the invention.

[0051] exist Figures 2 to 5 2 shows an exemplary line protection ring 6 a for an energy supply line 17 on a robot arm 5 according to a first specific embodiment.

[0052] exist Figures 6 to 92 shows an exemplary line protection ring 6 b according to a second specific embodiment for an energy supply line 17 on a robot arm 5 .

[0053] exist Fig.10 and Fig.11 2 shows an exemplary line protection ring 6 c according to a third specific embodiment for an energy supply line 17 on a robot arm 5 .

[0054] The respective line protection ring 6a, 6b, 6c has at least one first shell part 6.1 and at least one second shell part 6.2, wherein the shell parts 6.1, 6.2 complementarily form a first annular body 7.1 of the line protection ring 6a, 6b, 6c during assembly, the first annular body 7.1 having an inner shroud wall 7a which forms a contact surface of the hose of the energy supply line 17 against the outer shroud wall 24 when the line protection ring 6a, 6b, 6c is fastened to the energy supply line 17 in its installed position.

[0055] The first annular body 7 . 1 has a circumferential support surface 7 b arranged on its outer casing wall, on which at least one-piece, circumferentially closed second annular body 7 . 2 is placed.

[0056] The one-piece, circumferentially closed second annular body 7 . 2 can be braced, in particular with a force fit, on the circumferential support surface 7 b of the first annular body 7 . 1 .

[0057] The one-piece, circumferentially closed second annular body 7 . 2 can be produced, in particular, from an elastomeric material.

[0058] In accordance with Figures 6 to 9 In the case of the second embodiment, a one-piece, circumferentially closed second annular body 7.2 with a hollow cross section is shown. In other embodiments not shown, in particular according to Figures 2 to 5 In the first embodiment and in accordance with Fig.10 and Fig.11 In the third embodiment, the one-piece, circumferentially closed second annular body 7.2 can of course also have a hollow cross section.

[0059] As per Figures 6 to 9 The second implementation method and according to Fig.10 and Fig.11 In the third embodiment shown in FIG. 1 , the one-piece, circumferentially closed second annular body 7 . 2 can have a circular cross section.

[0060] As per Figures 2 to 5 As shown in the first embodiment, the one-piece, circumferentially closed second annular body 7.2 can have a bow-shaped cross section.

[0061] Specifically, in Figure 5 The sectional view shows how the inner shield wall of the one-piece, circumferentially closed second annular body 7.2 has at least one recessed groove 25 (two grooves 25 in the case of the illustrated embodiment), and the circumferential support surface 7b of the outer shield wall of the first annular body 7.1 has an annular protrusion 26 corresponding to the corresponding recessed groove 25 of the one-piece, circumferentially closed second annular body 7.2, which is engaged in a shape-fitting manner in the recessed groove 25 of the one-piece, circumferentially closed second annular body 7.2 when the one-piece, circumferentially closed second annular body 7.2 is installed on the first annular body 7.1.

[0062] In accordance with Fig.10 and Fig.11 In the third embodiment, the circumferential support surface 7b of the outer shroud wall of the first annular body 7.1 is designed to simultaneously accommodate at least one one-piece, circumferentially closed first second annular body 7.2 and at least one one-piece, circumferentially closed second second annular body 7.2, and is particularly designed to accommodate three one-piece, circumferentially closed second annular bodies 7.2. Here, each of the three one-piece, circumferentially closed second annular bodies 7.2 is located in a corresponding annular recess of the first annular body 7.1. The annular recess and the plurality of one-piece, circumferentially closed second annular bodies 7.2 extend parallel to each other through the circumference of the first annular body 7.1, respectively. The plurality of one-piece, circumferentially closed second annular bodies 7.2 are arranged axially spaced apart from each other.

[0063] For example, according to Figures 2 to 5 In a first embodiment, the first annular body 7 . 1 can have fastening means 27 which are designed to clamp the first annular body 7 . 1 to the hose outer jacket wall 24 of the energy supply line 17 in a rotationally fixed and axially fixed manner.

[0064] For example, according to Figures 6 to 9 In a second embodiment, the first annular body 7.1 can have a support 28 which is designed to be rotatably mounted about the center axis of the first annular body 7.1 and to axially fix the first annular body 7.1 on the hose outer jacket wall 24 of the energy supply line 17.

Claims

1. A pipeline protection ring for an energy supply pipeline (17) on a robot arm (5), comprising at least one first shell (6.1) and at least one second shell (6.2), wherein: The shell parts (6.1, 6.2) complement each other during assembly to form a first annular body (7.1) of the pipeline protection ring (6), the first annular body (7.1) having an inner shield wall (7a) which surrounds the energy supply line (17) on the circumferential side when the pipeline protection ring (6) is arranged in its installed position on the energy supply line (17), and is characterized in that the first annular body (7.1) has a circumferential support surface (7b) arranged on its outer shield wall, on which a one-piece, circumferentially closed second annular body (7.2) is placed.

2. The pipeline protection ring according to claim 1, characterized in that: The one-piece, circumferentially closed second annular body (7.2) is tensioned in a force-fitting manner on a circumferential supporting surface (7b) of the first annular body (7.1).

3. The pipeline protection ring according to claim 1 or 2, characterized in that: The one-piece, circumferentially closed second annular body (7.2) is made of an elastomeric material.

4. The pipeline protection ring according to any one of claims 1 to 3, characterized in that: The one-piece, circumferentially closed second annular body (7.2) has a hollow cross section.

5. The pipeline protection ring according to any one of claims 1 to 4, characterized in that: The one-piece, circumferentially closed second annular body (7.2) has a circular cross section.

6. The pipeline protection ring according to any one of claims 1 to 5, characterized in that: The one-piece, circumferentially closed second annular body (7.2) has a bow-shaped cross section.

7. The pipeline protection ring according to claim 6, characterized in that: The inner shield wall of the one-piece, circumferentially closed second annular body (7.2) has at least one recessed groove (25), and the circumferential support surface (7b) of the outer shield wall of the first annular body (7.1) has an annular protrusion (26) corresponding to the recessed groove (25) of the one-piece, circumferentially closed second annular body (7.2), and the annular protrusion is engaged in the recessed groove (25) of the one-piece, circumferentially closed second annular body (7.2) in a shape-fitting manner when the one-piece, circumferentially closed second annular body (7.2) is installed on the first annular body (7.1).

8. The pipeline protection ring according to any one of claims 1 to 7, characterized in that: The circumferential support surface (7b) of the outer shroud wall of the first annular body (7.1) is designed to simultaneously accommodate at least one one-piece, circumferentially closed first second annular body (7.2) and at least one one-piece, circumferentially closed second second annular body (7.2).

9. The pipeline protection ring according to any one of claims 1 to 8, characterized in that: The first annular body (7.1) has fastening means (27) which are designed to clamp the first annular body (7.1) to a hose outer jacket wall (24) of an energy supply line (17) in a rotationally fixed and axially fixed manner.

10. The pipeline protection ring according to any one of claims 1 to 9, characterized in that: The first annular body (7.1) has a bearing (28) which is designed to be rotatably mounted about a center axis of the first annular body (7.1) and to axially fix the first annular body (7.1) to a hose outer jacket wall (24) of an energy supply line (17).

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