Rotary joint unit of a robot arm and robot arm having such a rotary joint unit

Abstract

The present disclosure relates to a line guiding device having: a line to be guided having a first line section and a second line section and a line arcuate section between the first line section and the second line section; a first line clamp; a second line clamp; the inner cover wall and the outer cover wall are arranged on the smaller circumference and the larger circumference around the rotating shaft of the rotating joint, and the circuit arc-shaped part section is guided between the inner cover wall and the outer cover wall in an annular space defined by the inner cover wall and the outer cover wall; when the driving component rotates relative to the driven component, the deflection device enables the side edge of the second line to deflect inwards in the annular space in the direction parallel to the axial direction of the rotating shaft and opposite to the moving direction, so that the side edge of the second line is deflected inwards when the driving component rotates relative to the driven component by more than one whole circle; the second line side is axially adjacent to the first line section or the second line section according to the direction of rotation. The present disclosure also relates to a rotational joint unit of a robot arm having such a line guiding device and to a robot arm having such a line guiding device.

Description

Technical Field

[0001] The utility model relates to a line guiding device for a rotary joint of a robot arm, the line guiding device comprising: a line to be guided, the line comprising a first line section, a second line section and a line arc section located between the first line section and the second line section; a first line clamp that can be connected to a driving component of the rotary joint of the robot arm, and is used to fix the first line section of the line on the driving component; a second line clamp that can be connected to a driven component of the rotary joint of the robot arm, and is used to fix the second line section of the line on the driven component; and a plurality of line clamps arranged on a smaller circumference around a rotary axis of the rotary joint. An inner housing wall, and an outer housing wall arranged on a larger circumference around the rotation axis of the rotary joint, between which an arcuate section of the line is guided in an annular space defined by the inner housing wall and the outer housing wall; wherein, according to the relative rotation direction of the driving member and the driven member relative to each other around the rotation axis, a first line side (Leitungsschenkel) of the line arcuate section under pressure pushes a complementary second line side (Schieberichtung) of the line arcuate section outward in an axial direction parallel to the rotation axis along a movement direction (Schieberichtung). In addition, the utility model also relates to a rotary joint unit of a robot arm having such a line guiding device and a robot arm having such a line guiding device. Background Art

[0002] Patent document DE102018109249A1 describes a robot joint line guide for guiding at least one supply line through a rotating robot joint between two adjacent robot components, wherein the line guide has at least one curved line accommodating portion, the line accommodating portion includes a first molded shell and a second molded shell, wherein the at least one supply line can be inserted into the curved guide area between the molded shells, and wherein the first and second molded shells can be connected to each other by at least one first fastening device, and wherein the line accommodating portion has at least one second fastening device for fastening to the robot component. Utility Model Content

[0003] The purpose of the utility model is to provide a line guiding device, in particular a rotary joint unit of a robot arm having such a line guiding device, and a robot arm having such a line guiding device, through which the line guiding device can guide the line to pass over the rotary joint, and the rotary joint allows the driving component to rotate relative to the driven component of the rotary joint unit within an angular range, and the angular range is greater than, in particular significantly greater than 720 degrees.

[0004] The purpose of the utility model is achieved by a line guiding device for a rotary joint of a robot arm, the line guiding device having:

[0005] a line to be guided, the line comprising a first line section and a second line section and an arc-shaped line section located therebetween,

[0006] a first line clamp connectable to a drive member of a revolute joint of the robot arm for fixing a first line section of the line on the drive member,

[0007] a second line clamp connectable to a driven component of the rotary joint of the robot arm, for fixing a second line section of the line on the driven component,

[0008] - an inner housing wall arranged on a smaller circumference around the axis of rotation of the rotary joint, and an outer housing wall arranged on a larger circumference around the axis of rotation of the rotary joint, between which an arc section of the line is guided in an annular space defined by the inner housing wall and the outer housing wall, wherein

[0009] - depending on the relative rotation direction of the driving member and the driven member relative to each other about the rotation axis, the first line side of the line arc segment under pressure pushes the complementary second line side of the line arc segment outward in the axial direction parallel to the rotation axis in the displacement direction, characterized in that

[0010] -The line guiding device has a deflecting device, which is constructed to deflect the complementary second line side of the line arc section inwardly in the annular space in an axial direction parallel to the rotation axis of the rotation joint and against the movement direction during the relative rotation of the driving member relative to the driven member, so that when the driving member rotates relative to the driven member more than a full circle, the complementary second line side of the line arc section will be axially located next to the fixed first line section of the line or the fixed second line section of the line according to the rotation direction.

[0011] A line guiding device is a component used in a rotary joint, especially a robot arm, for guiding lines, especially electrical lines and / or hydraulic lines or pneumatic lines (such as air), through the corresponding rotary joint, thereby ensuring that the lines guided from the driving component of the rotary joint to the driven component of the rotary joint are guided without interference within the entire predetermined rotation angle range of the rotary joint.

[0012] The line guiding device includes: a first line clamp, by which the line guided over the rotating joint can be fixed on the driving member; a second line clamp, by which the line guided over the rotating joint can be fixed on the driven member; and the line itself guided over the rotating joint.

[0013] The line guide device can be mass-produced as a preassembled, independent structural assembly (Baugruppe), which can be installed in the rotary joint of the robot arm within the scope of an assembly step when assembling the robot arm. In this case, the inner housing wall of the line guide device can be formed on an inner plug-in component (Inneneinsatzteil), and the outer housing wall of the line guide device can be formed on an outer plug-in component (Auβeneinsatzteil), wherein the inner plug-in component and the outer plug-in component are independent components of the structural assembly of the line guide device, which can be inserted into the rotary joint of the robot arm during subsequent assembly. The inner plug-in component and the outer plug-in component can be designed, for example, as a tubular plastic body, to which the line guided over the rotary joint is fixed by a first line clamp and a second line clamp.

[0014] However, the line guide device can also be installed in separate components, in particular the first line clamp, the second line clamp and the line guided over the rotary joint can be installed directly in the rotary joint of the robot arm as independent components. In this case, the inner housing wall of the line guide device and the outer housing wall of the line guide device can be directly formed by the inner walls of the housing parts of the driving component and the driven component of the robot arm.

[0015] When the line guided over the swivel joint is fixed between the inner cover wall of the line guide device and the outer cover wall of the line guide device by the first line clamp and the second line clamp, in the installed state, a first line section fixed to the driving component, a second line section fixed to the driven component and a line arc section located between the two are obtained on the swivel joint. Here, depending on the instantaneous rotation direction of the swivel joint, either the first line section is shortened and the second line section is extended to the same extent, or the second line section is shortened and the first line section is extended to the same extent in different rotation directions. When one of the two maximum rotation angle positions is reached, the line arc section located between the two can even be completely loosened, because the line has no deflection area at this time.

[0016] Therefore, the maximum size or length of the arc section of the line is formed at the intermediate rotation angle position of the rotation joint. The intermediate rotation angle position of the rotation joint is usually designated as the nominal rotation angle position of 0 degrees, wherein the maximum rotation angle position along one rotation direction can be called, for example, the +360 degree rotation angle position, and the other maximum rotation angle position along the other rotation direction can be called, for example, the -360 degree rotation angle position.

[0017] In each maximum rotation angle position of + / -360 degrees, the line is almost completely in contact with the axial side in one rotation direction, for example, against the drive component, or in the other rotation direction, it is almost completely in contact with the other opposite axial side, for example, against the driven component. Even if the line length between the first line clamp and the second line clamp is selected to be larger, the swivel joint cannot easily assume a rotation angle position larger than + / -360 degrees, because the line arc section will then hit the corresponding clamping point of the first line clamp or the second line clamp, where the line arc section may be clamped, making it difficult for the swivel joint to rotate further beyond + / -360 degrees without interference, or there is a great risk that the line will be destroyed or at least damaged, which may lead to unexpected malfunctions of the line guiding device.

[0018] The reason is that, depending on the relative rotation direction of the driving member and the driven member relative to each other about the rotation axis, the first line side of the line arc section under pressure will push the complementary second line side of the line arc section outward in the axial direction parallel to the rotation axis along the movement direction. Depending on the rotation direction, due to the driving force of the rotary joint during the rotation process, one line section, that is, either the first line section fixed to the driving joint by means of the first line clamp or the second line section fixed to the driven joint by means of the second line clamp, will move the line arc section laterally, that is, in the axial direction of the rotary joint, relative to the opposite side wall, so that the other line section is placed there. This is not important before the placed line section reaches the opposite, respective other line clamp.

[0019] Now, in order to provide a line guiding device, in particular a rotary joint unit of a robot arm having such a line guiding device and a robot arm having such a line guiding device, through which the line can be guided to pass over the rotary joint, which allows the line to rotate relative to a driven member of the rotary joint within an angular range greater than, in particular significantly greater than 720 degrees, the utility model proposes that the line guiding device has a deflection device, which is constructed to deflect the complementary second line side of the line arc segment inwardly in the annular space along the axial direction parallel to the rotation axis of the rotary joint and against the movement direction during the relative rotation of the driving member relative to the driven member, so that when the driving member rotates relative to the driven member for more than one full circle, the complementary second line side of the line arc segment will be axially located next to the fixed first line segment of the line or the fixed second line segment of the line according to the rotation direction.

[0020] That is, the deflection device according to the utility model is constructed so that it axially presses the line side of the line arc section that is intended to be axially placed against the side wall back in the opposite direction, so that when the swivel joint is further rotated beyond + / -360 degrees, the corresponding line side begins to be axially located next to the fixed line section of the line, that is, also begins to be located next to the corresponding line clamp. That is, the line side of the line arc section that is placed against is gradually wound on the cable drum in an axial direction by the deflection device according to the utility model in a spiral shape similar to a coil (Wickel). Depending on the possible axial width of the swivel joint and the required line diameter, the swivel joint can basically complete multiple turns of rotation. In this regard, for more than 360 degrees, if necessary, further complete rotations such as the second, third or subsequent complete rotations, the line side of the line arc section that extends in the form of a pitch and has been placed against again forms a deflection device for the line side of the line arc section that is placed against again.

[0021] As mentioned above, depending on the direction of rotation of the swivel joint, either one path side of the path arc section rests on one side wall, or the other path side of the path arc section rests on the other side wall. Therefore, a deflection device is required for each required direction of rotation.

[0022] The deflection device can have at least one first wall section extending radially inwardly, which is formed to rise axially in the circumferential direction, so that the complementary second line side of the line arc section that is pressed outwardly in the movement direction starts on the first wall section and is deflected axially inwardly in the circumferential direction against the movement direction when it further rests on the first wall section.

[0023] For example, the first wall section can be formed by a first step or a first slope in a first housing wall section of the housing wall. For example, the first housing wall section of the housing wall can be formed by a separate first external component of the line guide. Alternatively, the first housing wall section of the housing wall can be formed directly by a housing part of a revolute joint, in particular a housing part of a driving component or a driven component of a robot arm.

[0024] The deflection device, in particular the at least one first wall section, can have a first rib protruding radially inwards, which is formed on the inner side of a first housing wall portion of the outer housing wall that can be connected to the drive member.

[0025] The first rib can extend vertically radially inward from the first housing wall portion of the housing wall. Here, the first rib extends spirally in an axial direction from the axial outside to the axial inside away from the initial axial side wall with a slope. For example, the first rib can extend 180 degrees along the housing wall.

[0026] The deflection device can have at least one second wall section extending radially inwardly, which is formed to rise axially in the circumferential direction, so that the complementary second line side of the line arc section that is pressed outwardly in the movement direction starts from the second wall section and is deflected axially inwardly in the circumferential direction opposite to the movement direction when it further rests on the second wall section.

[0027] For example, the second wall section can be formed by a second step or a second slope in a second housing wall portion of the housing wall. For example, the second housing wall portion of the housing wall can be formed by a separate second external component of the line guide. Alternatively, the second housing wall portion of the housing wall can be formed directly by a housing portion of a revolute joint, in particular a housing portion of a driving component or a driven component of a robot arm.

[0028] The deflection device, in particular at least one second wall section, can have a second rib protruding radially inwardly, which is formed on the inner side of a second housing wall portion of the outer housing wall that can be connected to the output component.

[0029] The second rib can extend vertically radially inward from the second housing wall portion of the housing wall. Here, the second rib extends spirally in an axial direction from the axial outside to the axial inside away from the initial axial side wall with a slope. For example, the second rib can extend 180 degrees along the housing wall.

[0030] Thus, the first rib and the second rib have opposite slopes. Analogously to the pitch, the first rib can be designed in the form of a left-hand thread and the second rib can be designed in the form of a right-hand thread; or the first rib can be designed in the form of a right-hand thread and the second rib can be designed in the form of a left-hand thread. Various possible embodiments are determined accordingly by the structurally predetermined winding direction of the line within the line guide.

[0031] The first wall section or the first rib and / or the second wall section or the second rib may extend from a circumferential point opposite to the first circuit clamp to the first circuit clamp, or may extend from a circumferential point opposite to the second circuit clamp to the second circuit clamp.

[0032] The first wall section or the first rib and / or the second wall section or the second rib can have a pitch which is at least substantially equal to or slightly greater than twice the diameter of the line to be guided.

[0033] Therefore, within the scope of the complete rotation of the swivel joint by 360 degrees, the axially placed line side of the line arc section can be placed on the corresponding first wall section or first rib and / or second wall section or second rib around 180 degrees, and after the 180-degree placement section, the axially placed line side has been guided inward by the necessary axial height, so that the axially placed line side is completely located next to the fixed line section. When the swivel joint continues to rotate more than 360 degrees, the axially placed line side can be placed laterally next to the fixed line section, similar to the winding of a cable drum.

[0034] The deflection device, in particular the first wall section or the first rib and / or the second wall section or the second rib, can be formed on a tubular circuit housing part which can be inserted into a drive component or a driven component of a revolute joint of a robot arm.

[0035] In this regard, the line guide device can be mass-produced as a preassembled, independent structural assembly, which can be installed in the rotary joint of the robot arm within the scope of an assembly step when assembling the robot arm. In this case, the inner housing wall of the line guide device can be constructed on the inner plug-in unit, and the outer housing wall of the line guide device can be constructed on the outer plug-in unit, wherein the inner plug-in unit and the outer plug-in unit are independent components (i.e., line housing parts) of the structural assembly of the line guide device, which can be inserted into the rotary joint of the robot arm in the subsequent assembly. The inner plug-in unit and the outer plug-in unit can be constructed, for example, as a tubular plastic body, to which the line guided across the rotary joint is fixed by a first line clamp and a second line clamp.

[0036] The deflection device, in particular the first wall section or the first rib and / or the second wall section or the second rib, can be mounted or formed on an inner wall of a driving component or a driven component of a revolute joint of the robot arm.

[0037] In this regard, the line guide device can also be installed in a separate component, in particular the first line clamp, the second line clamp and the line guided across the rotary joint are installed directly in the rotary joint of the robot arm as independent components. Here, the inner housing wall of the line guide device and the outer housing wall of the line guide device can be directly formed by the inner walls of the housing parts of the driving component and the driven component of the robot arm.

[0038] The object of the present invention is also achieved by a rotary joint unit of a robot arm, which has a driving component, a driven component rotatably connected to the driving component around a rotation axis to form a rotary joint, and a line, which is guided through the rotary joint by means of a line guiding device according to one of the embodiments.

[0039] The object of the present utility model is also achieved by a robot arm, which has at least one rotary joint unit, the rotary joint unit has a driving component, a driven component rotatably connected to the driving component around a rotation axis to form a rotary joint, and a line, which is guided through the rotary joint by means of a line guiding device according to one of the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 may be considered individually or in combination as needed to constitute the general features of the present invention, regardless of where they are specifically mentioned in this article. Among them:

[0041] Figure 1 An exemplary robot and associated drive components are schematically shown, the robot having a robot arm and a robot controller;

[0042] Figure 2 The robot is shown schematically in the form of a lightweight robot;

[0043] Figure 3 An exemplary line guide is shown in perspective view with the line in the 0 degree position of the revolute joint;

[0044] Figure 4 The perspective diagram shows the Figure 3 An exemplary line guide device of wherein the line is at a 180 degree position of the revolute joint;

[0045] Figure 5 The perspective diagram shows the Figure 3 An exemplary line guide device of the invention, wherein the line is in a 360 degree position of the revolute joint;

[0046] Figure 6 The cross-sectional side view shows the Figure 3 An exemplary line guide device of the present invention, wherein the line is at a 0 degree position of the revolute joint;

[0047] Figure 7 The cross-sectional side view shows the Figure 3 An exemplary line guide device of wherein the line is in a 360 degree position of the revolute joint; and

[0048] Figure 8 The longitudinal section of the revolute joint is shown with the line guide inserted therein and the centrally arranged motor. DETAILED DESCRIPTION

[0049] Figure 1A robot 8 is shown, which has a robot arm 9 and a control device configured as a robot controller 10. In this embodiment, the robot arm 9 includes a plurality of components G1 to G7 arranged in sequence and rotatably connected to each other by means of joints L1 to L6. In the embodiment shown, the robot 8 includes a drive device assigned to each joint L1 to L6.

[0050] The robot 8 has a robot controller 10 configured to execute a robot program and automatically move components G1-G7 and joints L1-L6 of the robot arm 9. One of the components G1-G7 forms an end component (G7) of the robot arm 9, which has a tool flange 11.

[0051] The robot controller 10 of the robot 8 is constructed or designed to execute a robot program, by which the joints L1 to L6 of the robot arm 9 can be automatically adjusted or rotated according to the robot program or automatically adjusted or rotated in manual operation. For this purpose, the robot controller 10 is connected to controllable electric drives, namely motors M1 to M6, which are constructed to adjust the corresponding joints L1 to L6 of the robot arm 9.

[0052] In the present embodiment, the components G1 to G7 include a robot base 13 and a turntable 14 which is rotatably mounted relative to the robot base 13 about a vertically extending axis A1. Other components of the robot arm 9 include a rocker arm 15, a cantilever arm 16 and a preferably multi-axial robot hand 17, which has a fastening device configured as a tool flange 11 for fastening a tool. The rocker arm 15 is pivotally mounted on the turntable 14 at the lower end, i.e., at the joint L2 (also referred to as the rocker arm bearing head) of the rocker arm 15, about a preferably horizontal rotation axis A2.

[0053] At the upper end of the rocker 15, at the joint L3 of the rocker 15, an arm 16 is also pivotably mounted about an axis A3, which is also preferably horizontal. The arm carries a robot hand 17 at the end with its preferably three rotation axes A4, A5, A6. The joints L1 to L6 can be driven by the robot controller 10 in a program-controlled manner via electric motors M1 to M6 and can be braked and securely locked by means of brakes assigned to the joints L1 to L6 or motors M1 to M6.

[0054] According to the utility model, the line guiding device 1 is based on Figure 1The integration in the robot arm 9 can be carried out in a suitable manner, for example on the joint L1 or the joint L4, where the maximum possible rotation angle range is advantageously present, i.e., greater than + / -360 degrees. However, depending on the type of robot arm, the line guiding device according to the present invention can be applied to any joint of the robot arm, only this joint is structurally designed for this purpose. In this regard, the line guiding device according to the present invention can be implemented on all joints of the corresponding robot arm if necessary. Regardless of the application in the robot arm as shown in the present embodiment, the line guiding device according to the present invention can also be applied to the rotation axis of other machines or devices, such as the rotation axis of a rotating table, a positioner or a pivoting device.

[0055] Figure 2 Another robot 8 is shown, in an exemplary embodiment as a so-called lightweight robot 8b, which has a robot arm 9 and a robot controller 10. In this embodiment, the robot arm 9 includes eight components L1-L8 arranged in sequence and rotatably connected to each other by means of joints J1-J7. Figure 2 In the case of the exemplary embodiment shown, the component L8 is designed as a tool flange, for example for fastening a holder.

[0056] According to the utility model, the line guiding device 1 is based on Figure 2 The integration of the robot arm 9 can be carried out in a suitable manner, for example at the joint J1 , the joint J3 or the joint J5 , where the largest possible rotation angle range of the robot is advantageously present.

[0057] Accordingly, the exemplary robot arm 9 or, if necessary, a robot arm of other constructions may have at least one rotary joint unit, which includes a driving component 2, a driven component 4 rotatably connected to the driving component 2 around a rotation axis D to form a rotary joint 3, and a line 5, which is guided through the rotary joint 3 by means of a line guiding device 1, which will be described in more detail in the specific embodiments below.

[0058] The line guiding device 1 has a line 5 to be guided, which has a first line section 5 . 1 and a second line section 5 . 2 and a line arc section 5 . 3 located therebetween.

[0059] The line guide device 1 has a first line clamp 6.1 that can be connected to the drive member 2 of the rotary joint 3 of the robot arm 9, and is used to fix the first line section 5.1 of the line 5 on the drive member 2. The first line clamp 6.1 can, for example, have a clamping plate connected to the drive member 2 so as to clamp the first line section 5.1 of the line 5 by bending the clamping plate. Alternatively, the first line clamp 6.1 can have notches on the drive member 2, through which separate cable ties (not shown) can be guided, and the first line section 5.1 of the line 5 can be tightened on the drive member 2 with the help of these cable ties.

[0060] The line guiding device 1 has a second line clamp 6.2 that can be connected to the driven member 4 of the rotary joint 3 of the robot arm 9, and is used to fix the second line section 5.2 of the line 5 on the driven member 4. The second line clamp 6.2 can, for example, have a clamping plate connected to the driven member 4 so as to clamp the second line section 5.2 of the line 5 by bending the clamping plate. Alternatively, the second line clamp 6.2 can have notches on the driven member 4, through which separate cable ties (not shown) can be guided, and the second line section 5.2 of the line 5 can be tightened on the driven member 4 with the help of these cable ties.

[0061] In accordance with Figure 8 In the exemplary embodiment of the invention, the line guide device 1 further comprises an inner cover wall 20 arranged on a smaller circumference around the rotation axis D of the rotation joint 3 and an outer cover wall 21 arranged on a larger circumference around the rotation axis D of the rotation joint 3, between which the line arc section 5.3 of the line 5 is guided in an annular space 22 defined by the inner cover wall 20 and the outer cover wall 21. As shown in the figure, the inner cover wall 20 can be constructed in two parts and has a first inner cover wall section 20.1 and a second inner cover wall section 20.2 respectively; the first inner cover wall section can be connected to the driving member 2 or can form the driving member 2; the second inner cover wall section can be connected to the driven member 4 or can form the driven member 4. Similarly, the outer cover wall 21 can be constructed as two parts as shown in the figure, and correspondingly have a first outer cover wall section 21.1 and a second outer cover wall section 21.2; the first outer cover wall section can be connected to the drive member 2 or can form the drive member 2; the second outer cover wall section can be connected to the driven member 4 or can form the driven member 4.

[0062] The deflection device 23 according to the present invention, in particular the first wall segment 23.1 or the first rib R1 and / or the second wall segment 23.1 or the second rib R2 which will be described in more detail below, can be constructed on a tubular circuit housing portion which can be inserted into the driving member 2 and / or the driven member 4 of the rotary joint 3.

[0063] The corresponding housing wall sections 21.1, 21.2 can be formed by the inner wall of the joint housing if necessary. Figure 8 In the case of a central arrangement, as shown, within a rotary joint which is rotationally driven by a motor M, the corresponding inner casing wall sections 20 . 1 , 20 . 2 can optionally be formed by the outer wall of the motor housing.

[0064] The deflection device 23 according to the present invention, in particular the first wall segment 23 . 1 or the first rib R1 and / or the second wall segment 23 . 2 or the second rib R2 which will be described in more detail below, can be mounted or formed on the inner wall of the driving member 2 or the driven member 4 of the rotary joint 3 .

[0065] According to the relative rotation direction R ( Figure 3 , Figure 4 ), the arc section 5.3 of the line is under pressure F( Figure 3 , Figure 4 ) pushes the complementary second line side S2 of the line arc section 5.3 outward in the axial direction AX parallel to the rotation axis D along the movement direction SAX.

[0066] In order to overcome this deflection movement along the axial direction AX or along the moving direction SAX, the line guiding device 1 according to the utility model has at least one deflection device 23, which is constructed to deflect the complementary second line side S2 of the line arc segment 5.3 inwardly in the annular space 22 along the axial direction AX parallel to the rotation axis D of the rotating joint 3 against the moving direction SAX when the driving member 2 rotates relative to the driven member 4, so that when the driving member 2 rotates relative to the driven member 4 for more than one full circle, the complementary first line side S1 of the line arc segment 5.3 is axially located next to the fixed first line segment 5.1 of the line 5 according to the rotation direction R.

[0067] Correspondingly, the deflection device 23 can have at least one first wall segment 23.1 extending radially inward, which is formed to rise axially in the circumferential direction, so that the complementary second line side S2 of the line arc segment 5.3 that is squeezed outward along the moving direction SAX starts on the first wall segment 23.1 and deflects axially inward in the circumferential direction opposite to the moving direction SAX when it further rests on the first wall segment 23.1.

[0068] The deflection device 23 , in particular at least one first wall section 23 . 1 , has here a first rib R1 protruding radially inwards, which is formed on the inner side of a first housing wall part 21 . 1 of the outer housing wall 21 which can be connected to the drive member 2 .

[0069] The deflection device 23 can have at least one second wall section 23.2 extending radially inwards, which is formed to rise axially in the circumferential direction, so that the complementary second line side S2 of the line arc section 5.3, which is pressed outward in the movement direction SAX, starts on the second wall section 23.2 and deflects axially inwards in the circumferential direction against the movement direction SAX when it further rests on the second wall section 23.2, which is particularly Figure 4 and Figure 5 It can be seen in.

[0070] exist Figures 3 to 7 In the illustrated embodiment, the deflection device 23 , in particular at least one second wall section 23 . 2 , has a second rib R2 protruding radially inwards, which is formed on the inner side of a second housing wall portion 21 . 2 of the outer housing wall 21 which can be connected to the output component 4 .

[0071] When the line 5 guided over the rotary joint 3 is fixed between the inner cover wall 20 of the line guiding device 1 and the outer cover wall 21 of the line guiding device 1 by the first line clamp 6.1 and the second line clamp 6.2, in the installed state, a first line section 5.1 fixed to the driving component 2, a second line section 5.2 fixed to the driven component 4 and a line arc section 5.3 located between the two are generated on the rotary joint 3. Here, depending on the instantaneous rotation direction of the rotary joint 3, either the first line section 5.1 is shortened and the second line section 5.2 is extended to the same extent, or in the other rotation direction, the second line section 5.2 is shortened and the first line section 5.1 is extended to the same extent. When one of the two maximum rotation angle positions is reached, the line arc section 5.3 located between the two can even be completely loosened, because at this time the line has no deflection area, such as Figure 7 shown.

[0072] Therefore, the maximum size or length of the line arc section 5.3 is formed in the intermediate rotation angle position of the rotation joint 3, especially Figure 3 and Figure 6 The intermediate rotation angle position of the rotation joint 3 is usually designated as a nominal rotation angle position of 0 degrees, wherein the maximum rotation angle position in one rotation direction can be referred to as a rotation angle position of +360 degrees, for example, and the other maximum rotation angle position in the other rotation direction can be referred to as a rotation angle position of -360 degrees, for example, which corresponds to Figure 5 and Figure 7 shown.

[0073] At each maximum rotation angle position of + / -360 degrees, the line is almost completely in contact with an axial side in one rotation direction, for example, against the drive member 2, or in another rotation direction, is almost completely in contact with another opposite axial side, for example, against the driven member 4. Even if the length of the line 5 between the first line clamp 6.1 and the second line clamp 6.2 is selected to be larger, the rotary joint 3 cannot easily occupy a rotation angle position larger than + / -360 degrees, because the line arc section 5.3 will hit the corresponding clamping position of the first line clamp 6.1 or the second line clamp 6.2, and the line arc section may be clamped there, so that it is difficult for the rotary joint 3 to continue to rotate beyond + / -360 degrees without interference, or there is a great risk that the line 5 will be destroyed or at least damaged, which may lead to unexpected malfunctions of the line guiding device 1.

[0074] The reason for this is that, depending on the relative rotation direction of the drive member 2 and the driven member 4 relative to each other about the rotation axis D, the first line side S1 of the line arc section 5.3 under pressure pushes the complementary second line side S2 of the line arc section 5.3 outward in the axial direction AX parallel to the rotation axis D in the displacement direction SAX. Depending on the rotation direction, due to the drive force of the rotary joint 3 during the rotation process, one line section, i.e. either the first line section 5.1 fixed to the drive joint 2 by means of the first line clamp 6.1 or the second line section 5.2 fixed to the driven joint 4 by means of the second line clamp 6.2, moves the line arc section 5.3 laterally, i.e. in the axial direction of the rotary joint 3, relative to the opposite side wall, thereby placing the other line section against it. This is not important until the placed line section reaches the opposite, respective other line clamp.

[0075] Now, in order to provide a line guiding device 1, in particular a rotary joint unit of a robot arm 9 having such a line guiding device 1 and a robot arm 9 having such a line guiding device 1, by which the line 5 can be guided over the rotary joint 3, which allows the driving member 2 to rotate relative to the driven member 4 of the rotary joint unit within an angular range greater than, in particular significantly greater than 720 degrees, the utility model proposes that the line guiding device 1 has a deflection device 23, which is constructed to deflect the complementary second line side S2 of the line arc segment 5.3 inwardly in the annular space 22 along the axial direction AX parallel to the rotation axis D of the rotary joint 3 and against the movement direction SAX during the relative rotation of the driving member 2 relative to the driven member 4, so that when the driving member 2 rotates relative to the driven member 4 for more than a full circle, the complementary second line side S2 of the line arc segment 5.3 will be axially located next to the fixed first line segment 1.5 of the line 5 or the fixed second line segment 5.2 of the line 5 according to the rotation direction.

[0076] That is, the deflection device 23 according to the utility model is constructed so that it axially presses the line side edges S1 and S2 of the line arc section 5.3 that are intended to be axially placed against the side wall back in opposite directions, so that when the rotary joint 3 continues to rotate beyond + / -360 degrees, the relevant line side edges S1 and S2 begin to be axially located next to the fixed line sections 5.1 and 5.2 of the line 5, that is, they also begin to be located next to the corresponding line clamps 6.1 and 6.2. That is, the line side edges S1 and S2 of the line arc section 5.3 that are placed against are gradually wound around the cable drum in an axial direction similar to a coil in a spiral shape through the deflection device 23 according to the utility model. According to the possible axial width of the rotary joint 3 and the required diameter of the line 5, the rotary joint 3 can, in principle, complete multiple turns of rotation. In this regard, for more than 360 degrees, if necessary further complete rotations, for example a second, third or subsequent complete rotations, the already abutting track sides S1, S2 of the track arc segment 5.3 extending in the form of a pitch again form a deflection device 23 for the newly placed track sides S1, S2 of the track arc segment 5.3.

[0077] In the conductor guide device 1, the first wall section 23.1 or the first rib R1 and / or the second wall section 23.2 or the second rib R2 extends from a circumferential point opposite to the first conductor clamp 6.1 to the first conductor clamp 6.1 or from a circumferential point opposite to the second conductor clamp 6.2 to the second conductor clamp 6.2.

[0078] The first wall section 23 . 1 or the first rib R1 and / or the second wall section 23 . 2 or the second rib R2 can have a pitch which is at least substantially equal to or slightly greater than twice the diameter of the line 5 to be guided.

Claims

1. A line guide device for a rotary joint (3) of a robot arm (9), the line guide device comprising: a line (5) to be guided, comprising a first line section (5.1) and a second line section (5.2) and a line arc section (5.3) located therebetween, a first line clamp (6.1) connectable to a drive member (2) of a rotary joint (3) of the robot arm (9), for fixing a first line section (5.1) of the line (5) on the drive member (2), - a second line clamp (6.2) connectable to a driven component (4) of a rotary joint (3) of the robot arm (9), for fixing a second line section (5.2) of the line (5) on the driven component (4), - an inner housing wall (20) arranged on a smaller circumference around the rotation axis (D) of the rotation joint (3), and an outer housing wall (21) arranged on a larger circumference around the rotation axis (D) of the rotation joint (3), between which the arc section (5.3) of the line (5) is guided in an annular space (22) defined by the inner housing wall (20) and the outer housing wall (21), wherein: - depending on the relative rotation direction of the driving member (2) and the driven member (4) relative to each other about the rotation axis (D), the first line side (S1) of the line arc segment (5.3) under pressure pushes the complementary second line side (S2) of the line arc segment (5.3) outwards in the axial direction parallel to the rotation axis (D) along the movement direction (SAX), It is characterized in that - The line guide device (1) has a deflection device (23), which is constructed to deflect the complementary second line side (S2) of the line arc segment (5.3) inwardly in the annular space (22) in an axial direction parallel to the rotation axis (D) of the rotation joint (3) and opposite to the movement direction (SAX) when the driving member (2) rotates relative to the driven member (4), so that when the driving member (2) rotates relative to the driven member (4) for more than one full circle, the complementary second line side (S2) of the line arc segment (5.3) is axially located next to the fixed first line segment (5.1) of the line (5) or the fixed second line segment (5.2) of the line (5) according to the rotation direction.

2. The line guiding device according to claim 1, characterized in that: The deflection device (23) has at least one first wall segment (23.1) extending radially inwardly, which is configured to rise axially in the circumferential direction, so that a complementary second line side (S2) of the line arc segment (5.3) pressed outwardly in the movement direction (SAX) starts on the first wall segment (23.1) and deflects axially inwardly in the circumferential direction opposite to the movement direction (SAX) when it further rests on the first wall segment (23.1).

3. The line guiding device according to claim 2, characterized in that: The deflection device (23), in particular at least one of the first wall sections (23.1), has a first rib (R1) protruding radially inwards, which is configured on the inner side of a first housing wall portion (21.1) of the outer housing wall (21) that can be connected to the drive member (2).

4. The line guiding device according to claim 2 or 3, characterized in that: The deflection device (23) has at least one second wall segment (23.2) extending radially inwardly, and the second wall segment is constructed to rise axially in the circumferential direction, so that the complementary second line side (S2) of the line arc segment (5.3) pressed outwardly in the movement direction (SAX) starts on the second wall segment (23.2) and deflects axially inwardly in the circumferential direction opposite to the movement direction (SAX) when it further rests on the second wall segment (23.2).

5. The line guiding device according to claim 4, characterized in that: The deflection device (23), in particular at least one of the second wall sections (23.2), has a second rib (R2) protruding radially inwards, which is configured on the inner side of a second housing wall portion (21.2) of the outer housing wall (21) that can be connected to the driven component (4).

6. The line guiding device according to claim 5, characterized in that: The first wall section (23.1) or the first rib (R1) and / or the second wall section (23.2) or the second rib (R2) extends from a circumferential portion opposite to the first circuit clamp (6.1) to the first circuit clamp (6.1), or extends from a circumferential portion opposite to the second circuit clamp (6.2) to the second circuit clamp (6.2).

7. The line guiding device according to claim 5 or 6, characterized in that: The first wall section (23.1) or the first rib (R1) and / or the second wall section (23.2) or the second rib (R2) have a pitch which is at least substantially equal to or slightly greater than twice the diameter of the line (5) to be guided.

8. The line guiding device according to claim 5 or 6, characterized in that: The deflection device (23), in particular the first wall segment (23.1) or the first rib (R1) and / or the second wall segment (23.2) or the second rib (R2), is constructed on a tubular circuit housing part, which can be inserted into a driving component (2) or a driven component (4) of a rotary joint (3) of the robot arm (9).

9. The line guiding device according to claim 5 or 6, characterized in that: The deflection device (23), in particular the first wall segment (23.1) or the first rib (R1) and / or the second wall segment (23.2) or the second rib (R2), is mounted or formed on the inner wall of the driving component (2) or the driven component (4) of the rotary joint (3) of the robot arm (9).

10. A rotary joint unit of a robot arm (9), characterized in that: The invention comprises: a driving member (2); a driven member (4) rotatably connected to the driving member (2) about a rotation axis (D) in order to form a rotation joint (3); and a line (5), the line being guided through the rotation joint (3) by means of a line guiding device (1) according to any one of claims 1 to 9.

11. A robot arm, characterized in that: At least one revolute joint unit according to claim 10 is provided.

Images