Reset device for resetting at least one line

Abstract

The invention relates to a resetting device (100) for resetting at least one line (10), comprising: a preferably strip-shaped resetting element (1) for resetting the at least one line (10); a mounting device (2) for mounting the resetting element (1), preferably at an articulated arm robot (200); and a guiding device (3) for guiding the at least one line (10). The restoring device (100) is characterized in that the restoring element (1) is designed as an elastic oscillating element. The invention also relates to an articulated arm robot (200) comprising a resetting device (100) of this type.

Description

Technical Field

[0001] The invention relates to a resetting device for resetting and preferably guiding at least one line, in particular for resetting and preferably guiding at least one line on an articulated arm robot. The invention also relates to an articulated arm robot having such a resetting device. Background Art

[0002] For example, articulated arm robots are used to guide construction workers in applying application materials to components, such as motor vehicle bodies and / or their accessories. Such applicators are often connected to lines, such as fluid lines and cables for energy and information transmission. Laying the lines along the articulated arm robot is a particular challenge. On the one hand, the lines should not restrict the flexibility of the articulated arm robot. On the other hand, these lines should not create significant interfering contours at the articulated arm robot, especially at the manipulator.

[0003] The lines can be fastened to the articulated arm robot using, for example, loop clamps, clips, etc. Here, however, problems arise due to the robot's movements. In particular, the reason for this is that the lines have to perform compensating movements, since they cannot always be laid in the so-called neutral fiber. Depending on the position of the robot, this compensating movement sometimes requires more or less line length.

[0004] In a simple example, the necessary line length changes can be achieved by providing a "loop" which is then closed (lengthened) or opened (shortened) depending on the position of the robot. However, this has the disadvantage that, since the movement of the line is not defined, it can present unpredictable interfering contours. In application processes with a defined working area, this can lead to unintended collisions with the application component (e.g. the body of the vehicle).

[0005] Often a compromise is made with one-dimensional guidance with only one-dimensional length compensation, since this often results in high loads acting on the line. One reason for this is in particular the limited ability to compensate for changes in line direction, since such guidance only acts in one direction. This can have a negative impact on the life of the line. In some cases, certain combinations of movements of the robot axes cannot even be realized.

[0006] For example, WO2008037276A1 discloses a device for guiding a hose, the hose comprising at least one supply line, the device comprising a guide element with at least three guide rods, wherein the hose can be guided against the restoring force of the restoring element, wherein the end sides of the guide element, which are located opposite to each other in the longitudinal direction, are formed by a front retaining ring and a rear retaining element forming a hose inlet, between which the guide rods are clamped, wherein in each case, a plurality of lateral outlet openings for at least one supply line are formed between two adjacent guide rods. However, the device shown in WO2008037276A1 generates relatively large interference contours, in particular at the manipulator and the manipulator arm carrying the manipulator. In addition, the device is relatively complex in design and generally generates relatively high tensile loads on the hose. In addition, the device only generates a one-dimensional length compensation, which is not compatible with the movement possibilities of modern articulated arm robots. Summary of the invention

[0007] The object of the present invention is to provide an alternative and / or improved resetting device for resetting, in particular guiding at least one line, preferably a resetting device with advantageous lightness, which resetting device comprises a low design complexity and / or is capable of improving the accessibility of the applicator relative to the application part (for example, the motor body and / or its accessories), in particular by minimizing the interference contour along the robot hand and / or robot arm, in particular on the robot side.

[0008] This object can be solved by the features of the independent claims. Advantageous further embodiments of the invention are disclosed in the dependent claims or from the following description of preferred embodiments of the invention.

[0009] The invention relates to a resetting device for resetting and preferably guiding at least one line.

[0010] The restoring device comprises a particularly elastic (preferably strip-shaped, for example rod-shaped) restoring element for resetting at least one line, for example for length compensation and / or (particularly multi-dimensional) direction compensation of the at least one line.

[0011] The resetting device further comprises a mounting device for mounting, in particular supporting (eg non-slidably and / or non-rotatably) the resetting element, preferably on an articulated arm robot.

[0012] The resetting device further comprises a guide device for suitably guiding and preferably (in particular at least partially) accommodating at least one line.

[0013] For example, the mounting means may comprise a (preferably flat or curved) mounting plate.

[0014] For example, the guide device can be annular and / or designed as a ring clamp structure.

[0015] For example, at least one line can be accommodated in the guide device (suitably in a gapless manner or in a gapped manner) and / or can be guided through the guide device (suitably in a gapless manner or in a gapped manner).

[0016] The resetting device is distinguished in that the resetting element is designed as an elastic oscillating element (eg a swivel, pivot and / or bendable arm).

[0017] The pivot element can be designed, for example, to be pivotable, bendable and / or rotatable relative to the mounting device, in particular elastically (for example freely).

[0018] The reset element can be suitably elastically deformable, preferably in its longitudinal direction. Alternatively or additionally, the reset element can be suitably elastically deformable in its lateral direction, preferably in its lateral direction, and is easily deformable and / or movable freely in space. Therefore, the reset element can preferably be designed to be elastically deformable in the axial direction and / or in the lateral direction.

[0019] The mounting device preferably forms a pivot base, and the guide device preferably forms a guide head that can be swung around the pivot base, in particular transversely and / or laterally to the longitudinal direction of the resetting element. For example, the guide head can be freely swung here.

[0020] The resetting element can be used to compensate for the length and / or for the (eg lateral) direction of at least one line.

[0021] For example, the guide device can be designed as a guide head and / or form a free end of the resetting device.

[0022] The resetting element can extend, in particular axially, between the mounting device and the guide device, and / or the mounting device and the guide device form and are preferably mounted at axially opposite ends of the resetting element.

[0023] For example, a particularly elastic reset element can include a basic position in which it attempts to reset and / or a basic position (e.g., original shape) in which it extends substantially in a straight line. Thus, for example, after canceling or reducing the force generated by at least one circuit, the reset element can suitably attempt to reset to the basic position.

[0024] The resetting element may be configured to be freely oscillating (eg transversely and / or laterally to a longitudinal direction of the resetting element).

[0025] The reset element and thus the guide device can be configured to be freely pivotable (in particular relative to the mounting device and / or elastically) and / or designed for multi-dimensional (in particular elastic) reset of at least one line in multiple (preferably all three) spatial directions. Alternatively or additionally, the guide device (in particular via the reset element) can, for example, be freely movable in space, in particular elastically, and / or can be movable in multiple (preferably all three) spatial directions, in particular elastically.

[0026] The restoring element is preferably a spring, such as a helical spring.

[0027] For example, the spring may be designed as a compression spring and / or a tension spring, such as a compression helical spring and / or a tension helical spring.

[0028] The restoring element can (in particular to reset at least one line) be elastically deformable, for example in its longitudinal direction and / or in its lateral direction.

[0029] The guiding device may be configured to guide at least one line past the resetting element, in particular outside, preferably transversely, in particular substantially orthogonally past the resetting element. Thus, the resetting element may preferably be arranged outside the at least one line, for example, so that the at least one line does not extend, for example, into or through the resetting element, and / or does not extend, for example, into or through the mounting device.

[0030] For example, the guide device may define a guide axis, in particular a channel axis, for at least one line, wherein, for example, the guide axis may be oriented transversely, in particular substantially orthogonally, to a longitudinal axis of the resetting element.

[0031] For example, the resetting element can be designed to be bent appropriately (in particular in multiple spatial directions, preferably in all three spatial directions) by at least one line, so as to be subjected to bending forces, for example, the resetting forces generated by the bending can be generated transversely to the longitudinal extension of the resetting element. Alternatively or additionally, for example, the resetting element can be designed to be pulled appropriately by at least one line, so as to be subjected to tensile stresses, for example, the resetting forces can be generated by tension in the longitudinal extension of the resetting element. Alternatively or additionally, for example, the resetting element can be designed to be twisted appropriately by at least one line, so as to be subjected to torsion, for example, the resetting forces generated by torsion can be generated.

[0032] Thus, all rotational, longitudinal and / or torsional movements of at least one circuit can be advantageously enabled, in particular completely controlled, by the reset element. This is one of the main advantages of the reset device.

[0033] The reset element can be designed to bend, in particular bend elastically and / or lateral elastically deflect, for example, at least (or more than) 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°. Preferably, the reset element is allowed to be elastically deformable at least in a semicircular arc or larger range.

[0034] The resetting element can be formed as a cantilever arm supported on the mounting device and / or extending from the mounting device, for example, so that the guide device and thus the at least one line is kept at a distance from the mounting device and thus the articulated arm robot by the longitudinal extension of the resetting element. Thus, the resetting element can advantageously form a (suitably sufficiently long) lever arm, preferably for resetting the at least one line and / or for keeping the at least one line at a distance from the mounting device and thus in particular from the articulated arm robot (e.g. the second robot arm described further below).

[0035] For example, the reset element can be elastically bent transversely relative to the longitudinal axis of the reset element and / or can be elastically deflected laterally relative to the longitudinal axis of the reset element. Alternatively or additionally, for example, the guide device can define a guide axis for at least one line, wherein the reset element can be configured to move (advantageously elastically) transversely, in particular substantially orthogonally, to the guide axis axis of the guide device.

[0036] For example, the guide device can be designed as a (openable or closable) guide ring. For example, the ring can be designed in an openable and / or closable manner so as to be able to advantageously accommodate at least one line.

[0037] For example, the guiding device may be configured to (at least partially) accommodate and / or guide at least one line.

[0038] For example, at least one line can be accommodated in the guide device in a gapless or gap-free manner and / or can be guided through the guide device.

[0039] The guide device can be configured to accommodate and / or support at least one line that is slidable and / or rotatable in the axial direction (especially substantially freely). For example, this allows at least one line to move axially and / or rotate in the guide device.

[0040] Thus, the guiding means may be configured to restrict movement of the at least one line in (preferably only) radial direction of the at least one line (suitably in a clearance-free manner or in a clearance-free manner), but to allow, for example, axial and / or rotational movement of the at least one line.

[0041] For example, the minimum length of the resetting element is substantially 15 cm, 20 cm, 25 cm, 30 cm or 35 cm.

[0042] The at least one line can include, for example, at least one fluid line for fluid transmission (for example, for transmitting application material and / or air, in particular compressed air) and / or at least one cable in particular for energy and / or information transmission (for example, a control cable, a grounding cable, a data cable and / or a cable for current transmission). For example, the at least one line can be an application hose or contain an application hose.

[0043] At least one line can include, for example, a guide hose (e.g. an envelope hose) and / or a guide chain, preferably for accommodating at least one fluid line for fluid transmission (e.g. for transmitting application material and / or air, in particular compressed air) and / or at least one cable in particular for energy and / or information transmission (e.g. a control cable, a grounding cable, a data cable and / or a cable for current transmission).

[0044] For example, the guide hose can be designed as a corrugated hose.

[0045] The resetting element can be used for resetting at least two, in particular independent, lines (eg guide hoses and / or guide chains), for example for length compensation and / or (preferably multi-dimensional, in particular lateral) direction compensation.

[0046] Embodiments having at least two (eg arranged substantially parallel or non-parallel) resetting devices disclosed herein are also possible, the resetting elements of which may, for example, extend substantially parallel or non-parallel to each other.

[0047] It should be mentioned that the guide device is preferably designed to accommodate and / or pass at least one line (suitably in a gapless manner or in a gapped manner), for example, so that at least one line can be axially slidable and / or rotatably accommodated in the guide device. However, in an embodiment, at least one line can be non-slidably and / or non-rotatably accommodated in the guide device.

[0048] It should be mentioned again that the restoring element can be a rocking element which is preferably elastically deformable in its longitudinal direction and / or in its lateral direction. The restoring element is preferably an axially and / or laterally elastically deformable rocking element.

[0049] The invention also relates to an articulated arm robot, preferably for applying application material to a component, such as a motor vehicle body and / or accessories thereof, having at least one resetting device as disclosed herein.

[0050] The articulated arm robot may include, for example, a robot base, a first (eg, proximal and / or close to the robot base) robotic arm, a second (eg, distal and / or far from the robot base) robotic arm, and, for example, a robotic hand.

[0051] For example, the robot arm may comprise at least two, preferably three (in particular rotatable) axes of movement.

[0052] For example, the articulated arm robot may comprise at least 4, at least 5 or at least 6 (preferably rotatable) axes of motion.

[0053] The resetting element can extend from the articulated arm robot in order to keep the guide device and thus the at least one line away from the articulated arm robot by the longitudinal extension of the resetting element. Thus, the resetting element can advantageously form a (suitably sufficiently long) lever arm, preferably for resetting the at least one line and / or for keeping the at least one line away from the mounting device and thus in particular from the articulated arm robot.

[0054] The second robot arm can be pivotably supported on the first robot arm about a movement axis via a robot joint, wherein the robot joint can preferably be conveniently arranged between the first robot arm and the second robot arm.

[0055] For example, the mounting device may be attached to the second robot arm and / or the robot articulation.

[0056] For example, the mounting device and the resetting element may be pivotable together with the second robot arm (preferably about an axis of movement of the second robot arm).

[0057] For example, the resetting element can protrude from the second robot arm and / or the robot joint, in particular in a cantilever-shaped manner.

[0058] For example, the resetting element may include a basic position (particularly an original shape) to which the resetting element attempts to re-set. Alternatively or additionally, the resetting element may extend substantially along a straight line in the basic position (particularly the original shape).

[0059] Thus, for example, the restoring element can expediently attempt to restore the basic position after canceling or reducing the force generated via the at least one line.

[0060] In the basic position, the guiding device can include, for example, a minimum distance to the articulated arm robot, in particular to the second robot arm and / or to the robot articulation, which is at least 15 cm, 20 cm, 25 cm, 30 cm or 35 cm, so as to preferably be able to form a sufficiently long lever arm.

[0061] The resetting element (e.g. in the basic position) can be oriented transversely, preferably substantially orthogonal to the axis of movement of the second robot arm; can be oriented transversely, preferably substantially orthogonal to the longitudinal axis of the second robot arm; can be oriented substantially parallel to the longitudinal axis of the first robot arm, and / or in particular can be oriented away from the articulated arm robot (e.g. the second robot arm and / or the first robot arm) starting from the mounting device.

[0062] The at least one line can be guided (preferably laterally, in particular approximately orthogonally) through the restoring element by means of the guiding device, so that preferably, for example, the at least one line does not project into or through the restoring element and / or into or through the mounting device.

[0063] For example, at least one line can be passed through the guide device and / or can be suitably arranged in the guide device.

[0064] For example, at least one line can be guided into the guide device in an arc-shaped manner and / or can be guided out of the guide device in an arc-shaped manner.

[0065] The at least one line may be guided from the guide device (eg substantially in an S-shaped manner) to the second robot arm and is preferably suitably fixed on the second robot arm.

[0066] For example, the at least one line may be guided from the guiding device to the second robot arm in a substantially S-shaped manner. For example, the S-shape may extend in two or three dimensions. Thus, the S-shape may be planar or spatial.

[0067] For example, during operation of the articulated arm robot, the reset element can be designed to be elastically bent and / or laterally elastically deflected, for example, by at least (or more than) 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°. Preferably, the reset element can be elastically deformed by at least a semicircular arc or more.

[0068] For example, during operation of the articulated arm robot, the resetting element can be designed to bend (particularly elastically) transversely relative to the longitudinal axis of the second robot arm and / or transversely relative to the movement axis of the second robot arm.

[0069] The movement of the robot gripper may lead to, in particular, elastic bending and / or lateral deflection of the resetting element.

[0070] For example, movement of the manipulator may act on the resetting element, for example in a direction toward the manipulator, causing it to preferably bend in a direction toward the manipulator, wherein, alternatively or additionally, movement of the manipulator may act on the resetting element, for example in a direction away from the manipulator, causing it to preferably bend in a direction away from the manipulator.

[0071] It is possible that at least one line can be suitably fastened to the second robot arm and / or the robot hand, in particular in order to advantageously reduce an interfering contour of the articulated arm robot.

[0072] At least one line may be suitably fixed to the second robot arm axially slidably or non-slidably and / or rotatably or non-rotatably, for example by at least one holder (eg an annular guide element, a clamp and / or a ring clamp structure etc.).

[0073] Alternatively or additionally, at least one line may be suitably fixed to the robot arm in an axially slidable or non-slidable and / or rotatable or non-rotatable manner, for example by at least one retainer (eg an annular guide element, a clamp and / or a ring clamp structure, etc.).

[0074] For example, the second robot arm and / or the robot hand may be movable relative to the guide device, for example, a movement of the second robot arm and / or the robot hand via at least one line causes a deformation of the resetting element.

[0075] For example, the first robot arm may be a proximal robot arm, in particular a robot arm close to the robot base and / or pivotably supported at the robot base.

[0076] For example, the second robot arm may be a distal robot arm (in particular remote from the robot base) and / or be pivotably supported at the first robot arm.

[0077] The second robot arm can suitably carry the robot hand.

[0078] The second robot arm is preferably arranged between the first robot arm and the robot hand.

[0079] The clear distance between the at least one line and the second robot arm (e.g., at least 30%, 40%, 50%, 60%, 70% or 80% of the longitudinal extension of the second robot arm) is preferably less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm. Alternatively or additionally, the clear distance between the at least one line and the robot hand (e.g., at least 30%, 40%, 50%, 60%, 70% or 80% of the longitudinal extension of the robot hand) may preferably be less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm. For example, the clear distance may be, at least in part, approximately 0 cm.

[0080] For example, the robot arm may carry an applicator for applying application material to a component (eg, a motor vehicle body and / or accessories thereof).

[0081] At least one fluid line and / or at least one cable may suitably be connected to the applicator.

[0082] It should be mentioned that the invention can preferably be used for interior applications of motor vehicle bodies (eg interior painting, interior coating or interior sealing etc.), in particular since low-interference contours can advantageously be achieved by means of the invention.

[0083] For example, the applied material may be a gloss paint, an adhesive, an insulator, a sealant, or a primer, to name a few. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] The preferred embodiments and features of the invention described above can be combined with each other as appropriate. Further advantageous embodiments of the invention are disclosed in the dependent claims or can be derived from the following description of preferred embodiments of the invention in conjunction with the drawings.

[0085] Figure 1 and Figure 2 Different perspective views of a resetting device according to an embodiment of the present invention are shown;

[0086] Figure 3 A perspective view of a resetting device is shown, in particular for illustrating an example of the freedom of movement of the resetting device;

[0087] Figure 4A and 4B shows a highly schematic diagram of a resetting device, in particular illustrating an exemplary bending / lateral deformation of a resetting element of the resetting device,

[0088] Figure 5 and Figure 6 Different perspective views of an articulated arm robot with a resetting device according to an embodiment of the present invention are shown, and

[0089] Figures 7 to 10 Different views of an articulated arm robot, in particular a resetting device, are shown.

[0090] The embodiments shown in the drawings are partially matched, wherein similar or identical components have the same reference numerals. To avoid repetition, explanation may also be made with reference to the description of other embodiments. DETAILED DESCRIPTION

[0091] Figure 1 and Figure 2Different perspective views of a resetting device 100 for resetting and suitably guiding at least one circuit 10 according to an embodiment of the present invention are shown. The resetting device 100 is preferably used for and suitably mounted on an articulated arm robot 200 (e.g. Figures 5 to 10 ).

[0092] The line 10 may include, for example, a guide hose (e.g. a corrugated hose) and / or a guide chain, in particular for accommodating at least one fluid line for the transmission of a fluid (e.g. an application material, air, compressed air, etc.) and / or at least one cable for the transmission of energy and / or information (e.g. a power cable, a data cable, a control cable, a grounding cable, etc.).

[0093] The restoring device 100 comprises an elastic, preferably strip-shaped restoring element 1 for restoring the circuit 10 and a mounting device 2 for mounting, in particular supporting, the restoring element 1 , for example, on an articulated arm robot 200 .

[0094] The reset device 100 further comprises a (eg annular) guide device 3 for guiding and appropriately (eg without gap or with gap, in particular in sections) accommodating the line 10. The guide device 3 is specially designed for guiding the line 10 through (eg without gap or with gap).

[0095] The guide device 3 is preferably configured to accommodate and / or support the line 10 freely slidably and / or rotatably, for example, so that the line 10 can be axially displaced and / or rotated in the guide device 3. Therefore, the guide device 3 can be particularly configured to (preferably only) limit the movement of the line 10 in the radial direction of the line 10 (suitably in a gapless manner or in a gapped manner), but for example allow axial movement and / or rotational movement of the line 10.

[0096] For example, the circuit 10 may be fixed to at least one moving part (eg, the second robot arm ra2 and / or the robot hand rh, for example, Figures 5 to 10 ), the moving part is movable relative to the guide device 3, so that the movement of the moving part causes the deformation of the reset element 1 by means of the line 10.

[0097] A particular feature is that the resetting element 1 is designed as a preferably axially and / or laterally elastically deformable swivel element (eg a swivel, bending and / or pivoting arm).

[0098] For example, the reset element 1 can be a spring, preferably a helical spring, such as a compression spring and / or a tension spring.

[0099] The guide device 3 preferably forms the free end of the resetting device 100. The resetting element 1 extends axially between the mounting device 2 and the guide device 3, which are formed at opposite axial ends of the resetting element 1. The resetting element 1 protrudes from the mounting device 2, in particular in a cantilevered manner, so that the guide device 3 and thus the line 10 are appropriately spaced apart from the mounting device 2 and thus, for example, from the articulated arm robot 200 by means of the longitudinal extension of the resetting element 1.

[0100] Figure 3 A perspective view of the resetting device 100 is shown, in particular for illustrating an example of the degrees of freedom of movement of the resetting device 100. The degrees of freedom of movement are determined by Figure 3 The arrows in the figure indicate schematically.

[0101] Figures 1 to 3 The reset element 1 is shown in an exemplary basic position, in particular in its original form. In the basic position, the reset element 1 preferably extends substantially along a straight line. The reset element 1 strives to reset to the basic position, in particular after the force generated by the line 10 is cancelled or reduced.

[0102] A particular feature is that the resetting element 1 is configured to be freely oscillating and / or is designed for multi-dimensional resetting of the line 10 in multiple spatial directions, preferably in all three spatial directions, which is Figure 3 . Thus, the reset element 1 is used not only for one-dimensional length compensation of the line 10, but also for length compensation and (preferably multi-dimensional, in particular lateral) compensation. The guide device 3 can be freely moved, in particular elastically moved, in space and / or in multiple (for example all three) spatial directions by means of the reset element 1. In particular, the reset element 1 can be elastically bent transversely to its longitudinal axis g1 and / or can be elastically deflected laterally.

[0103] Preferably, all rotational, longitudinal and torsional movements of the line 10 can advantageously be initiated and suitably controlled by the resetting element 1 . This is one of the main advantages of the resetting device 100 .

[0104] The restoring element 1 can expediently form a cantilever supported on the mounting device 2 and projecting from the mounting device 2 , so that the guide device 3 is kept at a distance from the mounting device 2 by the longitudinal extension of the restoring element 1 .

[0105] For example, the guide device 3 may define a guide axis g3 for the line 10, wherein the guide axis g3 may be oriented transversely, in particular substantially orthogonally, to the longitudinal axis g1 of the reset element 1. In particular, the reset element 1 may be designed to be elastically deformable transversely, in particular substantially orthogonally, to the guide axis g3 of the guide device 3.

[0106] Thus, for example, the guiding device 3 can be configured to guide the line 10 through the reset element 1 , preferably laterally, in particular approximately orthogonally, so that the line 10 does not extend into or through the reset element 1 and / or into or through the mounting device 2 .

[0107] Figure 4A and 4B 1 shows a highly schematic diagram of a resetting device 100, in particular for illustrating an exemplary bending deformation (eg lateral deformation) of the resetting element 1 that can be produced by the line 10. Figure 4A and 4B It is schematically indicated by a dotted line.

[0108] For example, Figure 4A and 4B It is shown that the reset element 1 is expediently formed as a cantilever, in particular an elastic one, and is preferably configured to be freely oscillating, in particular so that the reset element 1 can be bent out of a basic position by means of the line 10, thereby being subjected to bending stresses and / or can be pulled at least slightly, thereby being subjected to at least slightly tensile stresses. For example, the reset element 1 can also be twisted at least slightly by means of the line 10, thereby being subjected to torques.

[0109] Figure 5 and Figure 6 Different perspective views of an exemplary articulated arm robot 200 and a resetting device 100 according to an embodiment of the present invention are shown, wherein: Figures 7 to 10 Relevant detailed views are shown.For example, the articulated arm robot 200 may be a conventional articulated arm robot.

[0110] The articulated arm robot 200 includes a robot base rb, a pivotable first robot arm ra1, a pivotable second robot arm ra2, and a robot hand rh.

[0111] The first robotic arm ra1 is the proximal robotic arm and / or the robotic arm that is close to the robot base.

[0112] The second robot arm ra2 is a robot arm distal and / or away from the robot base. The second robot arm ra2 is suitably arranged between the first robot arm ra1 and the robot hand rh.

[0113] The robot base rb can rotate around the movement axis A1.

[0114] The first robot arm ra1 may be pivotably supported at the robot base rb by a robot joint J2 about a motion axis A2.

[0115] The second robot arm ra2 may be pivotably supported at the first robot arm ra1 about a motion axis A3 by a robot joint J3.

[0116] The robot arm rh may comprise a plurality of axes of movement, preferably three axes of rotation A4, A5 and A6.

[0117] For example, the robot arm rh may carry an applicator for applying application material to a component (eg, a motor vehicle body and / or its accessories).

[0118] The axes A1 , A2, A3, A4, A5 and / or A6 are preferably axes of rotation.

[0119] The line 10 may be suitably axially slidably received by the guide means 3. However, other embodiments are possible, for example the line 10 is non-slidably received in the guide means 3.

[0120] The line 10 can be accommodated by the guide device 3 , for example, in a non-rotatable or rotatable manner.

[0121] The line 10 may suitably be fixed to the second robot arm ra2 and / or the robot hand rh.

[0122] For example, the line 10 may be suitably fixed to the second robotic arm ra2 axially freely slidably or non-slidably and / or rotatably or non-rotatably by at least one retainer.

[0123] For example, the line 10 may be suitably fixed axially freely slidable or non-slidable and / or rotatably or non-rotatably to the robot hand rh by at least one retainer.

[0124] The second robot arm ra2 and / or the robot hand rh are movable relative to the guide device 3. Therefore, the movement of the second robot arm ra2 and / or the robot hand rh leads to an elastic deformation of the reset element 1 via the line 10, forcing the reset element 1 out of its (preferably substantially rectilinear) basic position.

[0125] The reset element 1 is suitably extended from the articulated arm robot 200 (preferably from the second robot arm ra2 and / or from the robot joint J3), and is configured to space the guide device 3, and thus the line 10, from the mounting device 2, and thus the articulated arm robot 200, through the longitudinal extension of the reset element 1. The reset element 1 can form a lever arm that is suitably long enough, in particular for resetting the line 10 and keeping the line 10 away from the mounting device 2, and thus from the articulated arm robot 200. The lever arm is preferably capable of sufficiently large length and direction compensation for the line 10.

[0126] The line 10 can be guided by the guide device 3 through the reset element 1 , preferably transversely, in particular approximately orthogonally, e.g. without the line 10 protruding into or through the reset element 1 and / or into or through the mounting device 2 .

[0127] In particular, the line 10 can extend through the guide device 3 and can be conveniently accommodated in the guide device 3 .

[0128] For example, the line 10 may be guided into the guide device 3 in an arc-shaped manner and led out from the guide device 3 in an arc-shaped manner.

[0129] The line 10 can be guided from the guide device 3 to the second robot arm ra2 and / or the robot hand rh. The line 10 can be guided from the guide device 3 to the second robot arm ra2 in a two-dimensional or three-dimensional, substantially S-shaped manner, for example, as Figure 6 shown.

[0130] One advantage that can be achieved by the resetting device 100 is that, for example, the line 10 can be at least tightly guided along the second robot arm ra2 and / or along the portion of the robot hand rh in the direction of the applicator 20, which is used to apply the application material to the component, so that the interference profile of the area around the applicator 20 can be advantageously reduced. Therefore, the invention can play a particular advantage in the internal application of motor vehicle bodies (such as internal painting, internal coating or internal sealing, etc.).

[0131] In the context of the present invention, for example, the clear distance between the line 10 and the second robot ra2 (for example, at least 30%, 40%, 50%, 60% or 70% of the longitudinal extension of the second robot ra2) can be made less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm, and / or the clear distance between the line 10 and the robot rh (for example, at least 30%, 40%, 50%, 60% or 70% of the longitudinal extension of the robot rh) can be made less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm. For example, the clear distance is approximately 0 cm at least in some parts.

[0132] For example, the resetting element 1 is configured to be elastically deflectable laterally during operation of the articulated arm robot 200 (e.g., by movement of the manipulator rh around the movement axes A4, A5 and / or A6), thereby bending at a deflection angle (e.g., pivot angle) α of at least 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°, as shown in FIG. Figure 4A and 4B shown.

[0133] For example, in Figure 4A In the embodiment, the deflection angle α is at least about 60°.

[0134] For example, in Figure 4BIn the embodiment, the deflection angle α is at least about 35°.

[0135] However, if necessary, the restoring element 1 can also be elastically deformed, for example by a maximum of a semicircular arc, ie, the deflection angle α is 180° or more.

[0136] In particular, a movement of the robot arm rh can act on the resetting element 1 , for example in a direction towards the robot arm rh.

[0137] The guide device 3 and the line 10 are preferably movable substantially without restriction in three-dimensional space, which advantageously imposes as low a load as possible on the line 10. This facilitates the realization of complex movement sequences, such as the movement sequences of the articulated arm robot 200.

[0138] The circuit 10 preferably always operates in a predictable manner, which may make programming of the articulated arm robot 200 easier, for example.

[0139] A positive result of this is, for example, reduced collisions between the line 10 and the applied component (e.g. the vehicle body and / or its accessories). Last but not least, this also advantageously enables close-fitting line routing, particularly in the area of ​​the second robot arm ra2.

[0140] Since the resetting element 1 can oscillate freely, there is no need to use a separate one-dimensional guiding system, which in turn has the advantage of low complexity due to fewer individual components.

[0141] Overall, the robot interference contour can advantageously be decisively reduced by the resetting device 100 , which optimizes the accessibility of the articulated arm robot 200 , for example with respect to the application component.

[0142] Another advantage that should not be underestimated is that the weight load on the articulated arm robot 200 is relieved by the resetting device 100. This reduces the load on the entire system and thus has a positive effect on the service life.

[0143] The number of individual components of the reset device 100 is extremely small, which greatly reduces the initial equipment cost and maintenance cost.

[0144] For example, through the present invention, at least one of the following advantages can be achieved:

[0145] 1. The restoring element 1 and preferably also the line 10 (for example a medium-conducting line) can be moved in three dimensions (in particular elastically).

[0146] 2. The load on line 10 is as low as possible.

[0147] 3. Complex motion sequences of the articulated arm robot 200 can be implemented in conjunction with line 10.

[0148] 4. The behavior of circuit 10 is predictable, which makes programming of the articulated arm robot 200 easier, for example.

[0149] 5. Reduce or avoid collisions between the line 10 and application components (eg, the vehicle body and / or its accessories).

[0150] 6. No separate one-dimensional guidance system is required.

[0151] 7. Since the reset device 100 has only a few individual components, the complexity is low.

[0152] 8. The extra weight load of the articulated arm robot 200 is reduced.

[0153] 9. The line 10 is guided in a close fit, in particular along the second robot arm ra2.

[0154] 10. Minimize the interference profile through line 10, thereby reducing the robot interference profile.

[0155] 11. The accessibility of the articulated arm robot 200, in particular the applicator 20, relative to the application component (eg, a motor vehicle body and / or its accessories) is optimized.

[0156] 12. Reduce initial equipment and maintenance costs.

[0157] The present invention is not limited to the preferred embodiments described above. On the contrary, a large number of variants and modifications are possible, which also utilize the creative concept and therefore belong to the scope of protection. In addition, the present invention also claims the features of the subject matter and related claims, which are independent of the functions and claims mentioned.

[0158] Reference numerals list

[0159] 100 Reset device

[0160] 1 Resetting element, preferably a swing element

[0161] 2 Installation

[0162] 3. Boot device

[0163] g1 Longitudinal axis of the reset element

[0164] g3 Guide axis of the guide device

[0165] 10 At least one line

[0166] α Deflection angle of the guide element

[0167] 10 At least one line

[0168] 200 Joint Arm Robot

[0169] ra1 robot base

[0170] A1 Axis of motion of the robot base

[0171] ra1 First Robotic Arm

[0172] A2 The motion axis of the second robot arm

[0173] ra2 Second Robotic Arm

[0174] A3 The motion axis of the second robot arm

[0175] rh Robot

[0176] A4, A5, A6 robot movement axis

[0177] J2 Robot joint, especially between the robot base and the first robot arm

[0178] J3 Robot joint, especially between the first and second robot arms

[0179] 20 Applicator

Claims

1. A reset device (100) for resetting at least one circuit (10), comprising: - a resetting element (1), preferably in the form of a strip, for resetting the at least one circuit (10), - a mounting device (2) for mounting the resetting element (1), preferably mounted on an articulated arm robot (200), and - a guiding device (3) for guiding the at least one line (10), It is characterized in that The restoring element (1) is designed as an elastic swinging element.

2. The resetting device (100) according to claim 1, characterized in that: The resetting element (1) is used for length compensation and lateral compensation of the at least one line (10).

3. The resetting device (100) according to any one of the preceding claims, characterized in that The guide device (3) forms the free end of the resetting device (100).

4. The resetting device (100) according to any one of the preceding claims, characterized in that The resetting element (1) extends axially between the mounting device (2) and the guiding device (3) and / or the mounting device (2) and the guiding device (3) are formed at opposite axial ends of the resetting element (1).

5. The resetting device (100) according to any one of the preceding claims, characterized in that The reset element (1): - configured to be able to swing freely, - configuration for multi-dimensional elastic resetting of the at least one line (10), preferably in all three spatial directions, and / or - Capable of elastic deformation in its longitudinal and / or lateral directions.

6. The resetting device (100) according to any one of the preceding claims, characterized in that The guide device (3) can be freely movable in space and / or can be elastically movable in a plurality of spatial directions relative to the mounting device (2) by means of the restoring element (1).

7. The resetting device (100) according to any one of the preceding claims, characterized in that The reset element (1) is a spring, preferably a helical spring, in particular a tension spring and / or a compression spring.

8. The resetting device (100) according to any one of the preceding claims, characterized in that The guiding device (3): - configured to be able to guide the at least one line (10) through the resetting element (1), preferably transversely, in particular substantially orthogonally, through the resetting element, and / or - defining a guide axis (g3) for the at least one line (10), the guide axis (g3) being oriented transversely, in particular substantially orthogonally, to the longitudinal axis (g1) of the resetting element (1).

9. The resetting device (100) according to any one of the preceding claims, characterized in that The resetting element (1) is configured to be able to be bent, pulled and / or twisted via the at least one line (10).

10. The resetting device (100) according to any one of the preceding claims, characterized in that The reset element (1) forms a cantilever supported on the mounting device (2) and / or extending from the mounting device (2), so that the guide device (3) is kept at a distance from the mounting device (2) by the longitudinal extension of the reset element (1), and a lever arm for resetting the at least one line (10) is formed by means of the longitudinal extension of the reset element (1).

11. The resetting device (100) according to any one of the preceding claims, characterized in that The resetting element (1) is elastically bendable transversely to its longitudinal axis (g1) and / or elastically deflectable laterally relative to its longitudinal axis (g1), and / or The guide device (3) defines a guide axis (g3) for the at least one line (10), the reset element (1) being configured to be movable transversely, in particular substantially orthogonally, to the guide axis (g3) of the guide device (3).

12. The resetting device (100) according to any one of the preceding claims, characterized in that The guiding device (3): - Designed as a guide ring, - configured to receive and guide the passage of the at least one line (10), and / or - configured to accommodate and / or support at least one line (10) in an axially slidable and / or rotatable manner.

13. The resetting device (100) according to any one of the preceding claims, characterized in that The at least one line (10) comprises a guide hose and / or a guide chain, in particular for accommodating at least one fluid line for fluid transmission and / or at least one cable for energy and / or information transmission.

14. The resetting device (100) according to any one of the preceding claims, characterized in that The resetting element (1) is configured to be able to bend elastically and / or to be elastically deflected laterally by at least 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°.

15. An articulated arm robot (200) comprising a robot base (rb), a pivotable first robotic arm (ra1), a pivotable second robotic arm (ra2), preferably a robotic hand (rh) and at least one resetting device (100) according to any one of the preceding claims.

16. The articulated arm robot (200) according to claim 15, characterized in that: The resetting element (1) extends from the articulated arm robot (200) so that the guide device (3) and thus the at least one line (10) are kept at a distance from the articulated arm robot (200) by the longitudinal extension of the resetting element (1), and a lever arm for resetting the at least one line (10) is formed by means of the longitudinal extension of the resetting element (1).

17. The articulated arm robot (200) according to claim 15 or 16, characterized in that: The second robot arm (ra2) is pivotally supported about a movement axis (A3) at the first robot arm (ra1) via a robot joint (J3).

18. The articulated arm robot (200) according to any one of claims 15 to 17, characterized in that: The mounting device (2) and the resetting element (1) are capable of pivoting together with the second robot arm (ra2).

19. The articulated arm robot (200) according to any one of claims 15 to 18, characterized in that: The mounting device (2) is attached to the second robot arm (ra2) and / or the robot joint (J3).

20. The articulated arm robot (200) according to any one of claims 15 to 19, characterized in that: The resetting element (1) comprises a basic position, to which the resetting element (1) attempts to re-set, and / or in which the resetting element (1) extends substantially along a straight line.

21. The articulated arm robot (200) according to claim 20, characterized in that: In the basic position, the guiding device (3) comprises a minimum distance of at least 15 cm, 20 cm, 25 cm, 30 cm or 35 cm from the articulated arm robot (200), in particular from the second robot arm (ra2).

22. The articulated arm robot (200) according to any one of claims 15 to 21, characterized in that: The resetting element (1), preferably in the basic position: - oriented transversely, preferably substantially orthogonally, to the axis of movement (A3) of said second robot arm (ra2), - oriented transversely, preferably substantially orthogonally, to the longitudinal axis of said second robotic arm (ra2), - oriented substantially parallel to the longitudinal axis of said first robotic arm (ra1), and / or - oriented away from the articulated arm robot (200) starting from the mounting device (2).

23. The articulated arm robot (200) according to any one of claims 15 to 22, characterized in that: The resetting element (1) is configured to: during operation of the articulated arm robot (200): - capable of elastic bending and / or elastic lateral deflection by at least 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°, - capable of bending transversely to the longitudinal axis of the second robot arm (ra2), and / or - Capable of bending transversely to the axis of movement (A3) of the second robot arm (ra2).

24. The articulated arm robot (200) according to any one of claims 15 to 23, characterized in that: The at least one line (10) is fixed to the second robot arm (ra2) and / or the robot hand (rh), preferably, the second robot arm (ra2) and / or the robot hand are movable relative to the guiding device (3).

25. The articulated arm robot (200) according to any one of claims 15 to 24, characterized in that: The at least one circuit (10): - axially slidably and / or rotatably fixed to said second robot arm (ra2) by means of at least one holder, and / or - is non-slidably and / or rotatably fixed to the robot hand (rh) by means of at least one holder.

26. The articulated arm robot (200) according to any one of claims 15 to 25, characterized in that: The movement of the robot arm (rh) causes the resetting element (1) to bend and / or deflect laterally.

27. The articulated arm robot (200) according to any one of claims 15 to 26, characterized in that: - a clear distance between the at least one line (10) and the second robot (ra2), preferably a clear distance along at least 30%, 40%, 50%, 60% or 70% of the longitudinal extension of the second robot (ra2) is less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm, and / or - The clear distance between at least one line (10) and the robot arm (rh), preferably along at least 30%, 40%, 50%, 60% or 70% of the longitudinal extension of the robot arm (rh), is less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm.

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