Feeding device for a manipulator arm having at least one joint and stiffening device for such a feeding device

Abstract

Feeding device (1) for a manipulator arm (2) having at least one joint, in particular of an industrial robot (3), with a flexible line package (13), via which at least one process agent can be fed at least substantially along the manipulator arm (2) to its end effector (12), and a flexible guide casing element (19) enclosing the line package (13), where a stiffening device (14) with a holding device (15) is provided, which is arranged in a fixed position on the flexible guide casing element (19), and that at least one stiffening element (16, 23) held by means of the holding device (15) is provided, which in an activation state of the stiffening device (14) is subjected to a stiffening energy, whereby the flexible guide casing element (19) and consequently the cable package (13) are stiffened by means of the stiffening element (16, 23), wherein the holding device (15) has at least one stiffening element receptacle (17) arranged parallel to the guide casing element (19), by means of which the at least one stiffening element (16, 23) is held on the holding device (15).

Description

[0001] The invention relates to a feeding device for a manipulator arm having at least one joint according to the preamble of patent claim 1. Furthermore, the invention relates to a stiffening device for such a feeding device according to patent claim 10.

[0002] In modern production facilities, especially in series production, especially of motor vehicles, feeding devices are used for industrial robots used in series production. Each feeding device is provided for a manipulator arm, in particular of an industrial robot, having at least one joint and comprises a flexible cable assembly, via which at least one process medium can be fed to the end effector of the manipulator arm, at least substantially along the manipulator arm. Furthermore, the feeding device comprises a flexible guide casing element enclosing the cable assembly.

[0003] The cable assembly is flexible, i.e., pliable or bendable, and designed to be deformed by the manipulator arm, such that the cable assembly, while deforming itself, at least substantially follows a movement of the manipulator arm. The cable assembly has at least one cable or several cables combined in the cable assembly. Each cable of the cable assembly can comprise at least one electrical conducting element, at least one fluid conducting element, and / or another pipe, cable, and / or hose element, such that the at least one process medium can be supplied to the end effector by means of the cable assembly and / or the at least one process medium can be removed from the end effector.

[0004] The flexible power package runs at least substantially along the manipulator arm, for example, at least substantially parallel to the manipulator arm. In particular, the power package can run from a base of the industrial robot or manipulator arm to the end effector, in particular from a third movement axis to a sixth movement axis of the manipulator arm, wherein the end effector is arranged in a region of the sixth movement axis of the manipulator arm or the industrial robot.

[0005] An end effector is the last kinematic link in a kinematic chain of the industrial robot and can be designed, for example, as a gripping unit, as a tool unit (e.g. welding, riveting, screwing unit, etc.) and / or as a sensor unit, etc.

[0006] At least one process medium can be supplied to the end effector by means of the line package, which can in particular be electricity, at least one fluid and / or at least one object. Likewise, the at least one process medium can be discharged from the end effector by means of the flexible line package. For this purpose, the at least one line of the flexible line package can be designed as an electrical conducting element (e.g., cable, wire, etc.) so that electrical sensor signals, electrical welding energy, electrical operating energy, etc. can be transported along the manipulator arm by means of the line package or by means of the supply device. Alternatively or additionally, an individual line of the line package can be designed as a fluid conducting element so that coolant, adhesive, lubricant, water, hydraulic fluids, protective gas, etc. can be transported by means of the supply device.Likewise, it is common practice nowadays for the at least one line of the line package to be designed as another pipe, cable and / or hose element, so that, for example, screws, rivets, welding wire, material, etc. can be guided and / or passed through the feed device. In the stretched or straight state, the flexible guide casing element is a pipe or hose element which forms an interior space in which the line package is arranged, such that a longitudinal center axis of the line package and a longitudinal center axis of the guide casing element coincide. A conventional guide casing element is usually made from a flexible pipe or corrugated pipe made of plastic. The individual lines of the line package are held together in the interior space of the guide casing element by means of the guide casing element in order to prevent threading or unthreading.To prevent objects adjacent to the manipulator arm from becoming caught between the individual cables of the cable bundle and thus to protect the feeder device from damage. The guide sheath element is designed to be flexible or bendable, so that the guide sheath element, when assembled, at least substantially follows the shape and / or path of the cable bundle.

[0007] Such conventional feeding devices are limited in their flexibility due to material properties, particularly of the guide casing element, so that retraction systems, which can be designed, for example, as a spring-loaded and / or cable-operated device, must be provided. These retraction systems ensure that the cable package or the guide casing element is subject to a basic mechanical tension in order to guarantee the best possible guidance along the manipulator arm. This is intended to prevent the power package or the feeding device from hooking onto adjacent robots or other objects. Furthermore, the retraction systems reduce the required extension length of the cable package of the feeding device, for example, if the required extension length of the cable package is reduced by moving the manipulator arm.

[0008] These retraction systems are particularly complex and vulnerable, so that an unwanted, unproductive or non-value-adding standstill of the manipulator arm is often due to a malfunction or defect in the retraction system.

[0009] To prevent chafing on the manipulator arm when retracting the cable package in conventional feeding devices, protective elements are now also provided on the feeding device, particularly on the guide sleeve element. These impact the manipulator arm instead of the guide sleeve element or the feeding device when the cable package is retracted, thus preventing particularly severe wear on the guide sleeve element and / or damage to the manipulator arm caused by the cable package striking it. However, this generates particularly loud friction and / or impact noise.

[0010] Due to the respective masses of the retraction systems and the protector elements, conventional feed devices are particularly mass-intensive, which is why the mass of the feed device must be taken into account when planning a path or process path. This is because the feed device is permanently mounted on the manipulator arm or the industrial robot, meaning that the feed device must be moved by the manipulator arm during a process performed by the manipulator arm. This results in particularly complex path planning or process planning for the manipulator arm. Also due to the masses of the retraction systems and the protector elements, the energy requirement for operating the manipulator arm or the industrial robot is particularly high.

[0011] Due to the flexural flexibility of the guide sleeve element or the feed device, parts of the feed device may accidentally strike against them, especially during sudden acceleration of the manipulator arm, resulting in particularly high stress on the manipulator arm or the industrial robot. This can significantly reduce the service life of the manipulator arm, for example. The impact of the protector elements can lead to damage to the manipulator arm, which also further reduces the service life of the manipulator arm.

[0012] DE 10 2016 203 552 A1 discloses a method for monitoring a supply line of an industrial robot, which has one or more lines guided in a protective hose, for wear damage to the protective hose, comprising the steps of: - generating a first fluid pressure surge within the protective hose, - subsequently detecting the fluid pressure within the protective hose over a predetermined first time period as a first fluid pressure curve, - storing the first fluid pressure curve, - generating a second fluid pressure surge within the protective hose, - subsequently detecting the fluid pressure within the protective hose over a predetermined second time period as a second fluid pressure curve, - comparing the second fluid pressure curve with the stored first fluid pressure curve, - issuing a wear warning,if a difference between the second fluid pressure curve and the first fluid pressure curve determined by the comparison exceeds a predetermined maximum tolerance difference.

[0013] DE 10 2016 203 361 A1 discloses an industrial robot having a robot arm with a plurality of links which are connected by means of a plurality of joints and are mounted adjustably relative to one another by means of the plurality of joints, and having a supply line which is guided along at least two of the plurality of links of the robot arm over at least one of the plurality of joints and is arranged outside the robot arm, and having a protective sleeve which is arranged on one of the links, specifically at least partially or completely surrounding at least one of the links over its circumference, wherein the protective sleeve has an outer casing wall which is designed to form a bearing surface for a section of the supply line.

[0014] DE 10 2011 015 984 A1 discloses a device of an articulated robot for guiding supply lines along the structure of the articulated robot, which device movably guides the supply lines in a length compensation section with a linear guide and a return means, which serves to compensate for the length of movements of several robot axes. The device has bearing means for the adjustable mounting of a housing and a housing which is adjustable relative to the linear guide, the linear guide and a protective hose and / or a link chain being mounted in at least one partial section of the length compensation section within the housing, and the housing being adjustably mounted relative to the structure of the articulated robot by the bearing means.

[0015] DE 10 2008 011 383 A1 discloses an energy supply device for industrial robots, comprising a housing in which a section of an energy supply line is guided for length compensation, a cover which is adjustably mounted relative to the housing by bearing means between a first position, in which the cover exposes an access opening to the section of the energy supply line guided in the housing, and a second position, in which the cover covers the access opening. In order to create an energy supply device in which a section of an energy supply line guided in the housing is easily accessible, in particular without having to move or remove the energy supply device itself or machine components arranged nearby from their positions, it is proposed to design the bearing means for adjusting the cover while maintaining the orientation of the cover plane in the first and second positions.

[0016] DE 102 24 858 B4 provides a compact, simple design of a device for guiding a hose, in which the device has a groove with a lateral longitudinal opening.

[0017] EP 2 431 140 B1 discloses the following: a flexible tool, comprising: a plurality of interconnected segments which are movable relative to one another; and stiffening means comprising a medium which fills gaps between connecting elements of the segments; wherein the medium is switchable in use from a first state of relatively low stiffness, wherein the medium behaves as a fluid, to a second state of relatively high stiffness, wherein the medium is rigid, and wherein the medium can subsequently be switched from the second state back to the first state; and wherein the medium in the first state functions to flow through the gaps to enable relative movement between the segments, and wherein the medium in the second state functions to lock the connecting elements between the segments and prevent relative movement between the segments.

[0018] The object of the present invention is to further develop such a conventional feeding device such that a manipulator arm equipped therewith can be operated in a particularly energy-efficient, low-cost, and durable manner. This object is achieved according to the invention by a feeding device having the features of patent claim 1. Advantages and advantageous embodiments with expedient further developments of the invention are specified in the remaining patent claims. Advantages and advantageous embodiments of the feeding device according to the invention are to be regarded as advantages and advantageous embodiments of the stiffening device according to the invention, and vice versa.

[0019] In order to further develop a feeding device of the type specified in the preamble of claim 1 such that a manipulator arm equipped therewith can be operated in a particularly energy-efficient, low-cost, and durable manner, the invention provides a stiffening device with a holding device that is fixedly arranged on the flexible guide casing element. Furthermore, the invention provides at least one stiffening element held by the holding device, which, in an activated state of the stiffening device, is subjected to stiffening energy, whereby the flexible guide casing element and consequently the cable package are stiffened by means of the stiffening element.

[0020] In other words, the feed device according to the invention comprises the stiffening device, which in turn comprises the holding device. For example, the holding device and the guide casing element can be connected to one another by gluing, welding, etc., so that the stiffening element held or capable of being held by the holding device and the guide casing element are immovable relative to one another.

[0021] For example, based on a control signal, which can be provided wirelessly and / or wired to the stiffening device by a control unit, in particular a control unit of the manipulator arm or industrial robot, the stiffening device can be placed in the activated state. Analogously, the stiffening device can be placed in a deactivated state, in which the stiffening energy is not provided to the stiffening element or the stiffening energy can be at least partially dissipated by the stiffening element.

[0022] The stiffening element can be at least substantially pliable in a rest state, for example in the deactivated state of the stiffening device, or can be arranged in a first shape characterizing the rest state of the stiffening device. For example, it is conceivable for the stiffening element to comprise a shape memory alloy or to be at least partially made from the shape memory alloy. A component made of a shape memory alloy (SMA component) has a cold shape at an initial temperature and can be reversibly formed into a hot shape different from the cold shape by heating to a temperature higher than the initial temperature. This means that the SMA component, which has the hot shape and is heated, for example, by means of electrical current, can be (re)formed into the cold shape by cooling - at least substantially to the initial temperature.

[0023] Accordingly, the stiffening energy can be, for example, electrical energy or voltage, heat, pressure, etc., which is supplied or provided to the stiffening element in the activated state of the stiffening device. For example, due to electrical stiffening energy, the stiffening element comprising the shape memory alloy is more rigid than in the rest or deactivated state and / or can be arranged or arranged in a shape that characterizes the activated state.

[0024] More precisely, stiffening means that in the stiffened or activated state, the respective direction of an actual longitudinal center fiber (neutral fiber) of the stiffening element and an imaginary longitudinal center line correspond more closely than in the rest or deactivated state. In other words, in the activated state, the stiffening energy causes the stiffening element to strive to align its longitudinal center fiber at least substantially parallel to the imaginary longitudinal center line. In other words, by means of the stiffening device, stiffness can be imparted via the stiffening element and via the holding device of the feed device holding the cable package, so that in the activated state - without the use of a separate retraction system - the required extension length of the cable package can be adjusted simply by moving the manipulator arm.

[0025] The feeding device according to the invention, in contrast to conventional feeding devices, makes it possible to eliminate the retraction systems and protector elements, thus making the feeding device particularly mass-efficient. As a result, a manipulator arm or industrial robot equipped with this feeding device can be operated particularly energy-efficiently. The feeding device also effectively prevents the feeding device, in particular the cable package, from accidentally hooking onto neighboring robot units or objects.

[0026] Furthermore, the influence of the particularly mass-efficient feed device on the process path of the manipulator arm is particularly small, so that path planning or process planning can be carried out with particularly little effort, since the corresponding masses of the retraction systems or protector elements do not have to be taken into account in the path planning.

[0027] Furthermore, the impact and / or abrasion of the feed device on the manipulator arm is particularly minimal; ideally, this impact and / or abrasion is eliminated completely. This allows the manipulator arm to operate for a particularly long time.

[0028] Furthermore, the impact noise caused by the protector elements in the conventional feeding device is eliminated, whereby the manipulator arm or the feeding device according to the invention can be operated with particularly low noise emissions.

[0029] Overall, the feeding device results in particularly low costs when operating a manipulator arm or industrial robot equipped with the feeding device.

[0030] The stiffening device of the supply device can have a connecting element via which the stiffening energy can be provided to the at least one stiffening element. Particularly preferably, a supply device (not described in detail herein) that generates and / or provides the stiffening energy can be reversibly and detachably connected to the stiffening element via the connecting element in a way that conducts stiffening energy without the need for tools.

[0031] It has proven particularly advantageous that the at least one stiffening element is designed as a flexible hose element, the hose wall of which delimits a channel element through which a fluid can flow, which is completely filled with the fluid in the activated state, and the stiffening element is subjected to the stiffening energy by the fluid in the channel element being subjected to a stiffening pressure. In particular, the hose element or the channel element can be fluidically tight at one end, for example have a fluidically tight end, so that the hose element and the fluidically tight end together delimit a pressure chamber. In particular, the material of the hose element can comprise silicone, i.e. the hose element can be made at least partially from silicone.The silicone hose element designed in this way allows for particularly small bending radii without impairing or restricting the function of the feeder. This ensures particularly reliable function and operation of the feeder or the manipulator arm or industrial robot equipped with it. Furthermore, the silicone hose element is particularly resistant to kinking, thus reducing the risk of damage to the feeder due to the particularly small bending radii or pinching.

[0032] An inner circumferential surface of the hose element or the hose wall delimits the channel element, which is thereby configured in a tube-like or hose-like manner. This means that the hose element has an at least substantially circular cross-section along its longitudinal extent, at least in the activated state. Accordingly, the hose element can be configured as a circular cylinder. In contrast, in the deactivated state, the hose element can have a cross-section different from a circular cylinder, in particular, it can be flexible or particularly flexible.

[0033] The fluid can be a liquid, such as oil, water, etc., and / or gas. This is particularly advantageous because such process fluids are readily available in an industrial, particularly manufacturing, plant for operating the industrial equipment, especially the manipulator arm. Another advantage is that electrical energy for operating or supplying the stiffening element is eliminated, thus preventing the creation of an electric field that could have an undesirable influence on neighboring data and / or sensor signal lines in the cable package.

[0034] Preferably, the fluid is formed as air, while the stiffening energy is formed as energy by means of which the air can be pressurized. In other words, an increase in pressure in the air arranged in the channel element generates an increase in the stiffening energy, so that an increase in air pressure in the hose element results in a stiffening and / or further stiffening of the stiffening element and, consequently, the line package.

[0035] Air as a process fluid is not only particularly readily available in industrial plants, but in the event of a faulty leak in the stiffening device, it has only a very minimal, and in particular, no lasting, damaging, effect on neighboring system components, the floor of the production plant, etc. Furthermore, unlike a liquid, the stiffening element or even the entire stiffening device does not need to be freed of the fluid, for example, by draining it, especially when replacing the stiffening element. Likewise, venting or filling the stiffening element or stiffening device with the fluid is no longer necessary during restart.

[0036] When air, in particular compressed air, is used in the stiffening element, this and consequently the stiffening device can be pneumatically controlled and / or regulated. In particular, due to the pneumatic controllability, the stiffening energy can be continuously supplied to the stiffening element so that a multitude of different stiffening states, for example between particularly stiff and particularly flexible, can be created, in particular as needed, for example depending on a movement sequence of the manipulator arm. Due to the control, a fixed pressure can be statically supplied to the stiffening element over the entire process runtime. Alternatively or additionally, due to the control, a multitude of different pressures can be dynamically supplied to the stiffening element, for example depending on a respective process step.Rules can be integrated into a control of the manipulator arm or industrial robot, so that the manipulator arm and the feeding device can be controlled together, in particular via a common control unit.

[0037] The feed device is particularly easy to maintain or repair if the holding device has at least one stiffening element receptacle arranged parallel to the guide casing element, by means of which the at least one stiffening element is held on the holding device. For example, the stiffening element receptacle can be designed as a further tubular element whose inner circumferential surface delimits a receiving space, so that the stiffening element can be arranged in the receiving space and held therein. In particular, the stiffening element designed as a tubular element can be inserted into the stiffening element receptacle such that a respective longitudinal center axis of the stiffening element receptacle and of the stiffening element coincide.If the stiffening element is inserted into the stiffening element holder, the stiffening element is arranged parallel to the guide sheath element and consequently parallel to the cable package and is held stationary in this position.

[0038] This is particularly advantageous because, in the event of maintenance and / or repair, the at least one stiffening element can be particularly easily removed from the stiffening element receptacle, or a different, for example, new stiffening element can be particularly easily inserted into the stiffening element receptacle. This allows for a particularly short period during which the feed device and, consequently, the manipulator arm are down due to a defect. Accordingly, the concept of a new, particularly advantageous service strategy has been particularly well taken into account.

[0039] It is conceivable that the hose element and the holding device, in particular the stiffening element receptacle, are each formed from elongated, cuttable elements (commonly known as "meterware"). This allows for a variety of different configurations of the feed device to be produced with particularly little effort. The length and / or diameter of the feed device, in particular of the cable bundle or the individual cables of the cable bundle, can be adjusted particularly easily by selecting the appropriately designed, cuttable elements.

[0040] Particularly preferably, the feed device comprises a plurality of stiffening elements and a plurality of corresponding stiffening element receptacles, so that the cable assembly is particularly reliably stiffened. In particular, the number of stiffening elements or stiffening element receptacles used in the feed device can depend on a radial diameter of the cable assembly or on a radial diameter of the guide sheath element. For example, for a particularly small diameter of the guide sheath element, three stiffening elements arranged parallel to the cable assembly may be sufficient, whereas for a larger diameter of the guide sheath element, four, five, six, seven, etc. stiffening elements and a correspondingly large number of stiffening element receptacles can be used.

[0041] The holding device and the guide casing element are each particularly easy to manufacture if the holding device and the guide casing element are formed integrally with one another. As already described, the guide casing element and the holding device can each comprise at least one hose element, wherein the two hose elements can, for example, be coextruded with one another. This ensures the positional arrangement of the holding device and the guide casing element relative to one another particularly reliably.

[0042] It has also proven advantageous if the holding device and the guide sheath element are each made at least partially from a textile structure. In other words, a material of the holding device and / or a material of the guide sheath element can each comprise a textile structure and / or be made at least partially from the textile structure. Depending on the type of textile structure, the textile structure can comprise a braid, a woven fabric, a mesh structure (for example, a knitted fabric), and / or a nonwoven structure.

[0043] In particular, the holding device and the guide sheath element can be manufactured in one piece particularly easily and / or with little effort by sewing, quilting, etc., the guide sheath element and the holding device or the stiffening element receptacle from a textile fabric. Furthermore, the textile holding device and the textile guide sheath element are each designed to be particularly flexible or flexible, so that the textile holding device and the textile guide sheath element can each be particularly tightly snug against the cable package. Furthermore, the textile fabric has a particularly thin material thickness, so that when the textile holding device and the textile guide sheath element are used, the feed device can be manufactured particularly compactly and / or with efficient installation space.

[0044] In the feed device, it can be provided that the stiffening device comprises a flexible protective sheath element formed separately from the guide sheath element, which, in a protective position, jointly encloses the cable package, the holding device, the guide sheath element, and the at least one stiffening element. Particularly preferably, the protective sheath element can be made at least partially from a textile structure. In the protective position, the protective sheath element forms a tube- and / or hose-like protective space through which the elements arranged in the protective sheath element extend, so that the protective sheath element delimits the elements of the feed device arranged in the protective space from the environment of the feed device.The protective sheath element allows the feeding device to slide along a surface of the manipulator arm with particularly low resistance, so that chafing and, as a result, damage to the manipulator arm and / or the feeding device is particularly effectively avoided.

[0045] A further advantage is that the protective sheath element, in conjunction with the retaining device arranged therein, provides a particularly high level of protection for the cable bundle. A deformation zone is created by the retaining device, which is spaced from the cable bundle by the protective sheath element. In the event of a collision between the protective sheath element and an object, particularly during operation of the manipulator arm or industrial robot, an impact occurs accordingly on the protective sheath element, which can deform into the deformation zone—without causing damage to the cable bundle—so that the cable bundle is particularly well protected against direct impact.

[0046] Furthermore, by designing a suitable textile structure (e.g., fabric, yarn, fiber type and / or material, structure type, and any subsequent treatment of the textile structure, e.g., coating, impregnation, etc.), the guide sheath element or the protective sheath element, or the guide sheath element and the protective sheath element, can be adapted to various requirements, such as hot, humid, dry, cold, chemical-containing environments, etc. This allows the feeding device to be used particularly flexibly and adapted to various requirements with particularly little effort.

[0047] In a further development of the invention, the protective sheath element can have a closure unit that can be reversibly and non-destructively adjusted between an open position, in which the protective sheath element is open along its longitudinal direction, and the protective position, in which the protective sheath element is closed along its longitudinal direction. For this purpose, the closure unit can, for example, have at least one particularly simple and error-free hook-and-loop fastener, which can be particularly advantageously applied to the textile-constructed protective sheath element, for example, sewn to a base body of the protective sheath element during production of the protective sheath element.

[0048] This allows for the simple and inexpensive replacement of only the protective sheath element subject to wear if it is damaged and / or worn, or if the feeder needs to be adapted to a changed requirement. This allows the feeder to operate particularly efficiently.

[0049] Furthermore, the time required to replace, i.e., disassemble and assemble, the protective sheath element is particularly short, as the protective sheath element can be adjusted to the open position without disconnecting one end of the feed device, for example, from the end effector. Time savings during assembly and disassembly of the protective sheath element result in significantly less unproductive downtime of the feed device and, consequently, of the manipulator arm or industrial robot.

[0050] To make path and / or process motion planning of the manipulator arm or industrial robot particularly simple and inexpensive, a first end of the stiffening device can be formed by a connection unit, via which the stiffening device is or can be attached to the manipulator arm remote from the end effector. This means that the stiffening device can be attached via the connection unit, for example, in a region of a third movement axis or in a region of another movement axis of the manipulator arm or industrial robot, for example, at its base or first movement axis.

[0051] In particular, the connecting unit can have a ball joint, enabling relative movement between the end of the stiffening device and the manipulator arm. This results in particularly advantageous flexibility or mobility of the feed device in relation to the manipulator arm. This ensures that the first end of the stiffening device can follow a movement of the manipulator arm with particular flexibility. Unfavorable distortion of the feed device is effectively counteracted, and inherent movements of the feed device, for example due to objects moving through or being transported through the cable package, are not transmitted to the manipulator arm via a rigid connection. Accordingly, the manipulator arm can be moved or controlled with particular precision, which translates into particularly simple path planning.

[0052] The connecting element can be integrated into the connection unit. For example, the connecting element can be a threaded hole into which a supply line of the supply device can be inserted, for example, screwed, via a threaded connection. The threaded hole can be formed, for example, drilled, into a base body of the connection unit.

[0053] As a result, no installation space is required for a separately designed connecting element through which the feed device can be supplied with the stiffening energy. Therefore, the feed device must be manufactured in a particularly compact and / or space-efficient manner.

[0054] The connection unit can have a distribution unit that connects the at least one stiffening element to the connecting element in a manner that conducts stiffening energy. Particularly when multiple stiffening elements or multiple stiffening element receptacles are used, the stiffening energy can be provided or supplied to the individual stiffening elements via the single, common connecting element.

[0055] In a further development, the stiffening device can comprise a reversibly and non-destructively detachable fastening device, by means of which the connection unit and the protective sheath element can be detachably fastened to one another. A first fastening element of the fastening device is arranged on the connection unit, and a second fastening element of the fastening device, corresponding to the first fastening element, is arranged on the protective sheath element. This ensures, in a particularly advantageous manner, that the protective sheath element is held in a fixed position on the connection unit and does not slip, for example, along a longitudinal center axis of the protective sheath element or the cable bundle, thereby reducing the protective effect of the protective sheath element compared to a correctly held protective sheath element.

[0056] The fastening device can, for example, comprise a further hook-and-loop fastener, the first hook-and-loop fastener element of which, for example, a loop-and-loop tape, can be particularly advantageously applied to the textile-constructed protective sheath element, for example, sewn to a base body of the protective sheath element during production. A second hook-and-loop fastener element, for example, a hook tape, can be correspondingly attached to the connection unit, for example, glued thereto.

[0057] A second end of the stiffening device can be formed by a second connection unit, via which the stiffening device can be fastened to the manipulator arm near the end effector. This ensures that the second end of the stiffening device can follow the movement of the manipulator arm even more flexibly. Furthermore, the disadvantageous distortion of the feed device is further counteracted, and the inherent movements of the feed device are not transmitted to the manipulator arm, in particular to the end effector, via a rigid connection. Therefore, particularly reliably reproducible paths and / or process movements of the manipulator arm can be realized using the manipulator arm or industrial robot equipped with the feed device.

[0058] It is particularly preferred if the first connection unit and the second connection unit are each designed at least substantially as identical parts or of identical construction. This results in particularly efficient and cost-effective production of the feed device, since the first and second connection units can be manufactured according to a common design plan. If the connection element is integrated into the connection unit, the molding or drilling of the threaded hole can simply be omitted when manufacturing the end-effector-side connection unit. Alternatively, a closure element can be provided to seal the end-effector-side threaded hole, by means of which closure element the threaded hole can be closed fluid-tight via the threaded connection.

[0059] The stiffening device of the feed device can have a guide device with at least one guide element, by means of which the cable package, the holding device, the guide casing element, and the at least one stiffening element can be guided together on the manipulator arm. The guide element can be fixedly attached to the manipulator arm, for example, screwed thereto. Furthermore, the guide element can be designed, in particular, as a circular ring cylinder, so that the cable package, the holding device, the guide casing element, and / or the at least one stiffening element can extend through the guide element. In this case, a longitudinal center axis of the guide element and a common longitudinal center axis of the cable package, the holding device, the guide casing element, and / or the at least one stiffening element can coincide with one another.An inner circumferential surface of the guide element can be designed, for example, to be particularly smooth, so that the elements of the feed device extending through the guide element can slide along it with particularly little resistance.

[0060] In other words, the guide device or guide element enables movement, for example, displacement, of the elements of the feed device enclosed by the guide element along their longitudinal extent. Conversely, the guide device or guide element blocks deflection of the elements of the feed device enclosed by the guide element, for example, along a radial direction of the feed device.

[0061] Furthermore, the protective sheath element arranged in the protective position can be guided on the manipulator arm by means of the guide device, wherein the protective sheath element particularly advantageously forms a sliding surface of the feed device corresponding to the inner circumferential surface of the guide element, so that the elements of the feed device enclosed by the protective sheath element can slide along the inner circumferential surface of the guide element via the protective sheath element with even less resistance.

[0062] To further consider the concept of the new, advantageous service strategy, the stiffening device can have a sensor device with at least one sensor element, via which an evaluation unit can provide at least one sensor signal characterizing a state of the stiffening device. The at least one sensor element can, in particular, each have at least one pressure sensor, temperature sensor, strain gauge, electrical resistance, optical sensor, capacitive sensor, etc. In this case, it is particularly conceivable for the sensor element to be integrated into a material of the feed device. If the protective sheath element is made from the textile structure or comprises the textile structure, the sensor element can comprise a sensor incorporated into the textile structure.This could include, among other things, a sensor fiber woven into the textile structure, a particularly flat sensor, possibly arranged between two textile layers of the textile structure, etc. In other words, the textile structure from which the protective sheath element can be at least partially manufactured can be a so-called "smart textile."

[0063] In particular, a temperature, pressure, degree of wear, etc. of the feed device can be detected via the at least one sensor element of the sensor device. Of particular interest is detecting the degree of wear of elements of the feed device that are subject to particularly high levels of wear, in particular the protective casing element. The sensor signal characterizing this respective state of the stiffening device can be provided, for example, wirelessly, for example via WLAN (wireless local area network), Bluetooth (data transmission via radio technology), NFC (near field communication: short-range communication via electromagnetic induction), etc., and / or via a cable connection to the sensor device.

[0064] This takes particular account of the "Industry 4.0" concept. This makes it particularly easy to provide data and / or parameters of the feeding device to the user of the manipulator arm or industrial robot. In other words, process data monitoring by the user can be ensured with particularly little effort. A particularly advantageous feature is that signs of wear, impending malfunctions, and / or defects can be provided to the user, for example, displayed. This enables particularly timely ordering of spare parts, especially before the manipulator arm or feeding device comes to a standstill due to a malfunction or defect. This also results in particularly short repair times.

[0065] The stiffening device according to the invention is based on the idea of ​​equipping existing manipulator arms or industrial robots, or their respective feed devices, with the stiffening device. This would allow the manipulator arms or industrial robots equipped with the stiffening device to be operated particularly energy-efficiently, with low effort, and / or with a long service life. The effort required for this is particularly low, since no new manipulator arms / industrial robots need to be procured; they simply need to be equipped with the stiffening device to achieve the advantages explained in connection with the feed device according to the invention.

[0066] A design plan for the stiffening device, in particular the connecting unit(s), can be configured such that a stiffening device to be manufactured can be produced depending on the size and / or weight class of the robot or manipulator arm to be equipped with the stiffening device. The stiffening device can be designed modularly, so that, for example, a different number of stiffening elements can be used depending on the weight class.

[0067] Further advantages, features, and details of the invention will become apparent from the following description of a preferred embodiment and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combinations, but also in other combinations or on their own, without departing from the scope of the invention.

[0068] This shows Fig. 1 a schematic plan view of a feeding device for a manipulator arm; Fig. 2 a schematic side view of the feeding device for the manipulator arm; Fig. 3 a schematic and perspective view of a holding device and a stiffening element; Fig. 4 a schematic view of the stiffening element; Fig. 5 a schematic view of the stiffening element in an activation state; Fig. 6 a schematic and perspective view of a protective sheath element; Fig. Figure 7 is a schematic and perspective view of an assembled connection unit; Fig. 8 individual elements of the connection unit, some of which are shown in a perspective view and in a sectional view; Fig. 9 a perspective view of an industrial robot equipped with the feeding device.

[0069] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0070] Fig. 1 shows a schematic plan view and Fig. 2 shows a schematic side view of a feeding device 1 for a manipulator arm 2. The manipulator arm 2 is part of an industrial robot 3, which usually has six axes of movement 4 to 9. The axes of movement 4 to 9 are each defined by a respective rotary joint, which rotatably connects two directly adjacent links 10 of the industrial robot 3 or the manipulator arm 2. An end effector 12 is arranged on a link 10 furthest from a base 11 of the industrial robot 3, which end effector can be designed as a gripping unit, connecting unit, in particular a welding unit, riveting unit, screwing unit, etc. In order to feed at least one process agent to the end effector 12 or to remove a process agent from the end effector, the feeding device 1 comprises a line package 13, which is designed to be flexible or bendable, such that the flexible line package 13 can be adapted to a respective position of the industrial robot 3 orthe links 10 of the industrial robot 3 or the manipulator arm 2. The process medium can be, for example, electrical operating energy, a coolant, material, adhesive, lubricant, screws, rivets and / or welding wire, etc., which can be fed to the end effector 12 via the cable package 13. For this purpose, at least one line or several lines are combined in the cable package 13, through which the process medium(s) can be passed.

[0071] In order to make the manipulator arm 2 equipped with the feeding device 1 particularly energy-efficient, low-cost, and durable, a stiffening device 14 is provided, by means of which the cable package 13 can be stiffened as needed. The stiffening device 14 is designed such that it can be applied, for example, retrofitted, to an existing, conventional feeding device. The stiffening device 14 is described in detail below.

[0072] Fig. 3 shows a schematic and perspective view of a holding device 15 and a stiffening element 16. In the present case, the holding device 15 has five stiffening element receptacles 17 arranged along an outer circumferential surface 18 of a guide casing element 19. A longitudinal center axis 20 of the guide casing element 19 and a respective longitudinal center axis 21 of the respective stiffening element receptacle 17 extend parallel to one another. Furthermore, the five stiffening element receptacles 17 are distributed at least substantially uniformly along the outer circumferential surface 18.

[0073] In the present example, the guide casing element 19 and the stiffening element receptacles 17 are formed integrally with one another, so that the stiffening element receptacles 17 and the guide casing element 19 are arranged immovably relative to one another or are held against one another. Particularly preferably, the stiffening element receptacles 17 and the guide casing element 19 are made from a common textile structure. In other words, the guide casing element 19 and the stiffening element receptacles 17 are formed integrally with one another.

[0074] An inner circumferential surface of the guide sheath element 19 forms a receiving space, allowing the cable bundle 13 to extend through it along the longitudinal center axis 20. In other words, the guide sheath element 19 encloses the cable bundle 13, so that individual cables of the cable bundle 13 are held together in a particularly space-efficient manner. The guide sheath element 19 conforms particularly efficiently to the cable bundle 13 because the guide sheath element 19 is made of the textile structure, which makes the guide sheath element 19 particularly flexible.

[0075] In Fig. Although only one stiffening element 16 is shown in Figure 3, it should be understood that in the present example, five stiffening elements 16 are used. It is equally conceivable that the number of stiffening elements 16 used is defined by a whole natural number other than five. For example, one stiffening element 16 or three, four, six, seven, eight, etc. stiffening elements 16 can be used in the feed device 1 or stiffening device 14.

[0076] The respective stiffening element 16 can be inserted or is inserted into a respective receiving space delimited by an inner circumferential surface of the respective stiffening element receptacles 17. The inner circumferential surface of the respective stiffening element receptacle 17 and a respective outer circumferential surface of the stiffening element 16 ideally directly adjoin one another. As a result, the respective stiffening element 16 is held stationary in a respective stiffening element receptacle 17 such that a longitudinal center axis 22 of the stiffening element 16 coincides with the longitudinal center axis 21 of the corresponding stiffening element receptacle 17. Accordingly, the longitudinal center axis 22 of the stiffening element 16 is arranged parallel to the longitudinal center axis 20 of the guide casing element 19 as soon as the corresponding stiffening element 16 is arranged in the respectively associated stiffening element receptacle 17.The stiffening element 16 is in the present case designed as a hose element 23, which is made entirely or partially from a synthetic polymer, i.e. silicone.

[0077] Fig. 4 shows a schematic view of the stiffening element 16 or the hose element 23. A hose wall 24 of the hose element 23 forms a channel element 25 through which a fluid can flow and / or can be filled with a fluid. Fig. 4 shows the hose element 23 or the stiffening element 16 in a deactivated state of the stiffening device 14, in which the stiffening element 16 or the hose element 23 is arranged in a first shape characterizing the deactivated state of the stiffening device 14. For example, the stiffening element 16 can be flexible or particularly flexible, so that the stiffening element 16 arranged in the respective stiffening element receptacle 17 follows a shape or a course of the cable package 13, since the stiffening element 16 is firmly connected to the cable package 13 via the stiffening element receptacle 17 and the guide sheath element 19 firmly connected thereto or formed integrally therewith. For illustration purposes, Fig. 4 illustrates such a shape particularly clearly. It is particularly clear that a longitudinal center fiber 26 ("neutral fiber") of the stiffening element 16 or the tube element 23 and an imaginary longitudinal center line 27 diverge particularly strongly or deviate particularly strongly from each other.

[0078] In contrast, Fig. 5 shows a schematic view of the stiffening element 16 in an activated state of the stiffening device 14, in which the stiffening element 16 is subjected to stiffening energy, whereby the guide casing element 19, which is flexible or bendable in the deactivated state, is stiffened. Accordingly, the longitudinal center fiber 26 of the stiffening element 16 or of the hose element 23, in the activated state, has assumed a course and / or a shape in order to at least substantially correspond in position and direction to the imaginary longitudinal center line 27. Ideally, in the activated state of the stiffening device 14, the longitudinal center fiber 26 and the longitudinal center line 27 coincide. In other words, the application of stiffening energy to the stiffening element 16 results in the stiffening element 16 being or being adjusted to a stretched position.

[0079] It is particularly preferred if the stiffening energy acts on the stiffening element 16 via compressed air arranged in the channel element 25, so that the stiffening element 16 is moved by the compressed air into a position characterizing the activation state of the stiffening device 14, for example the position shown in Fig. 5, is or will be adjusted. The compressed air can be pressurized, for example, between 0 and 6 bar. This is particularly advantageous because this pressure range is usually readily available in modern production and / or manufacturing facilities.

[0080] Fig. 6 shows a schematic perspective view of a protective sheath element 28, which can be opened and / or closed reversibly and non-destructively, as well as tool-free, along a longitudinal extension of the protective sheath element 28 via a closure unit 29. For example, the closure unit 29 can have at least one hook-and-loop fastener. In the present example, the closure unit 29 is designed as a hook-and-loop fastener.

[0081] An inner circumferential surface 30 of the protective sheath element 28 defines a protective space 31, in which, in the present example, the cable assembly 13, the holding device 15, the guide sheath element 19, and the stiffening elements 16 are arranged together. In other words, in a protective position, i.e., when the protective sheath element 28 is moved into the protective position by means of the closed closure unit 29, the protective sheath element 28 encloses the cable assembly 13, the holding device 15, the guide sheath element 19, and the stiffening elements 16. Accordingly, an outer circumferential surface 32 of the protective sheath element 28 forms, at least for the most part, an outer circumferential surface of the stiffening device 14 or the feed device 1.

[0082] In a summary of Fig. 1, Fig. 2 and Fig. 6 shows that the outer circumferential surface 32 of the protective sheath element 28 is in direct contact with individual guide elements 33 of a guide device 34. Each guide element 33 encloses the protective sheath element 28 in a respective guide region, so that the cable assembly 13, the holding device 15, the guide sheath element 19, the stiffening elements 16, and the protective sheath element 28 are at least substantially blocked from moving along a radius of the corresponding guide element 33 via the guide elements 33 or the guide device 34. In other words, the guide elements 33 or the guide device 34 only allow these components to move along the longitudinal center axis 20 of the guide sheath element 19.

[0083] The feeding device 1 has a length compensation area 35, which allows the cable package 13, arranged particularly close to the manipulator arm 2, to follow a movement of the manipulator arm 2. When a portion of the cable package 13 is pulled out of the length compensation area 35, the length of the cable package 13 arranged in the length compensation area 35 and of the elements of the feeding device 1 firmly connected thereto is extended. For this purpose, the feeding device 1 is connected to the manipulator arm 2 or to the end effector 12 at an end 36 near the end effector via a connection unit 37.

[0084] When a section of the cable package 13 is pushed into the length compensation area 35, the length of the cable package or the elements of the feed device 1 connected thereto in a fixed position is extended in the length compensation area 35. For this purpose, the stiffening device 14 is set into the activated state, whereby the stiffening element 16 is subjected to the stiffening energy, in particular compressed air, so that the stiffening element 16 at least substantially Fig. 5 assumes or attempts to assume the shape shown and is held in this shape. Since the stiffening element 16 is fixedly connected to the cable package 13 via the stiffening element receptacle 17 and the guide sheath element 19, the stiffening energy imparts rigidity to the cable package 13, so that when pushed at the end 36 of the feed device 1 near the end effector, the cable package and the elements of the feed device 1 fixedly connected thereto are pushed through the guide device 34 or through the guide elements 33. In this case, the outer peripheral surface 32 of the protective sheath element 28 slides along an inner peripheral surface of the corresponding guide elements 33.

[0085] In order to keep the length compensation area 35 particularly compact on the manipulator arm 2, the feed device 1 has a further connection unit 39 at an end 38 remote from the end effector, which can be constructed identically to the connection unit 37 with regard to a particularly advantageous common parts strategy. Accordingly, a detailed description of the connection units 37, 39 is provided below based on the connection unit 39.

[0086] The connection unit 39, which can be at least largely identical in construction to the connection unit 37, is shown in an assembled state in a schematic and perspective view in Fig. 7. A longitudinal center axis 40 of the connecting unit 39 coincides in an assembled state of the feeding device 1 with a longitudinal center axis 41 (see Fig. 6) of the protective casing element 29. It should be understood that the longitudinal center axis 40, 41 (see Fig. 6 or Fig. 7) in an extended state of the feeding device 1, while the longitudinal center axes 40, 41 can fall apart at least partially during actual operation of the feeding device 1 on the manipulator arm 2 or on the industrial robot 3. The same applies to a collapse of the longitudinal center axis 20 (see Fig. 3) of the guide casing element 19 with the longitudinal center axis 40 and for a parallelism of the longitudinal center axis 22 (see Fig. 3) of the respective stiffening elements 16 or the longitudinal center axis 21 of the respective stiffening element receptacles 17 to the longitudinal center axis 40 of the connecting unit 39. The connecting unit 39 has a joint element 42, which in the present example is designed as a ball element of a ball joint. In order to manufacture the connecting unit 39 particularly mass- and / or raw material-efficiently, a plurality of material recesses 43 are provided in the ball element. Furthermore, Fig. 7 shows a connecting element 44, via which the at least one stiffening element 16 or the at least one hose element 23 can be supplied with the stiffening energy or with the compressed air. In particular, the connecting element 44 is a threaded hole, so that a supply line of a supply device generating the stiffening energy can be screwed into it via a threaded connection.

[0087] The connection unit 39 has a fastening element 45, to which in the assembled state of the feeding device 1 each end 46 (see Fig. 6) of the protective sheath element 28 and is held firmly in place. For this purpose, a fastening device 47 can be provided which can be released reversibly, non-destructively and without tools and is designed as a further hook and loop fastener in the present example. A first hook and loop fastener element 48, for example a loop fastener, is arranged on the end 46 of the protective sheath element 28, for example sewn to the textile fabric of the protective sheath element 28. A second hook and loop fastener element 49, for example a hook and loop fastener, corresponding to the first hook and loop fastener element 48, can be arranged on an outer peripheral surface 50 of the fastening element 45; for example, the second hook and loop fastener element 49 can be glued to the outer peripheral surface 50. However, it is also conceivable for the outer peripheral surface 50 of the fastening element 45 to form the second hook and loop fastener element 49.

[0088] Fig. Figure 8 shows individual elements of the connection unit 39, partially illustrated in a perspective view and in a sectional view. The joint element 42, designed as a ball element, can be seen, which is connected to a base portion 51. In particular, the base portion 51 and the joint element 42 can be formed integrally with one another. Furthermore, the connection element 44 can be seen, through which a fluid, in particular compressed air, can flow and which opens into a distributor element 52 of a distributor module 53. In the present example, the distributor element 52 is designed as an annular groove formed in a surface 54 of the base portion 51.

[0089] The distributor module 53 has a sealing plate 55, the sealing surface 56 of which, in the assembled state of the connection unit 39, is in direct contact with the surface 54 of the base portion 51 or the joint element 42, so that the distributor element or the annular groove 52, together with the sealing surface 56, defines a distribution channel element 57. For a particularly good fluidic seal between the base portion 51 and the sealing plate 55, at least one sealing element, in particular a toroidal one, can be provided between the base portion 51 and the sealing plate 55.

[0090] The sealing plate 55 and the base portion 51 can be screwed together. Alternatively or additionally, the sealing plate 55 and the base portion 51 or the joint element 42 can be formed integrally with one another, for example, by means of a generative manufacturing process. Furthermore, the sealing plate 55 and the base portion 51 can be connected to one another in a force-fitting, form-fitting, and / or material-fitting manner. It is particularly preferred if a thermal joining process, for example, welding, is used to connect the sealing plate 55 and the base portion 51 to one another.

[0091] The sealing plate 55 further comprises at least one receiving element 58, which has an internal thread and completely penetrates the sealing plate 55. By means of a threaded connection, a coupling element 59 can be arranged, in particular screwed, into the receiving element 58, whereby the coupling element 59 is firmly held in or on the sealing plate 55. In the present example, the sealing plate 55 comprises five receiving elements 58 and five coupling elements 59. A fluid, in particular compressed air, can flow through each coupling element 59, so that a stiffening element-side end 60 of the respective coupling element 59 is fluidly connected to the distribution channel element 57 via the respective receiving element 58. In other words, the connection element 44 is fluidly connected to the stiffening element-side end 60 of the respective coupling elements 59.

[0092] The respective stiffening element 16 or the respective hose element 23 is fluidically connected to the connecting element 44 via a respective stiffening element-side end 60 of the respective coupling element 59, since the respective coupling element 59 is at least indirectly fluidically connected to the one connecting element 44. For example, the hose element 23 can be plugged onto a coupling section 61 of the coupling element 59 in a fluidically tight manner, so that the coupling section 61 extends into the channel element 25.

[0093] In order to achieve a particularly tight fit and / or a particularly high sealing effect between the coupling section 61 and the stiffening element 16 or the hose element 23, a holding element 62 is provided which has an internal thread that can be screwed between a holding area 63 of the holding element 62 and the coupling section 61 with a holding thread 64 of the coupling element 59, while bracing or clamping the hose wall 24 of the hose element 23. For example, the holding area 63 can be conically tapered in an interior of the holding element 62, so that the clamping effect for the hose element 23 becomes increasingly stronger the further the holding element 62 is screwed onto the holding thread 64. The holding element 62 also has a dual functionality, since it has a further holding area 65, which is designed to hold a connection unit-side end 66 (see Fig. 3) to hold one of the stiffening element receptacles 17, which is held on or in the further holding area 65 by means of a clip or a retaining clamp (not described in detail). In the present example, the retaining element 62 can resemble a union nut in shape and function.

[0094] The fastening element 45 can be screwed to the sealing plate 55, wherein the sealing plate 55 has a rotation-locking slot 67 into which the fastening element 45 engages via slot elements 68 corresponding to the rotation-locking slot 67. This particularly effectively ensures that a torsional force acting from the outside via the protective casing element 28 and the fastening device 47 on the fastening element 45 does not result in the fastening element 45 and the sealing plate 55 being rotated relative to one another.

[0095] In contrast to the connection unit 39 remote from the end effector, the connection unit 37 near the end effector seals the five stiffening elements 16 fluidically connected thereto, so that the stiffening energy, in particular the compressed air, cannot escape from the stiffening device 14 or from the supply device 1 at the end 36 near the end effector. If the connection units 37, 39 are designed as identical parts, i.e., identical in construction, the connection unit 37 near the end effector would comprise the connection element 44, through which the compressed air could escape into the environment of the supply device 1. Accordingly, a closure element (not shown) is provided, by means of which the connection element 44 near the end effector or the threaded hole near the end effector can be fluidically closed or sealed.Alternatively, it may be provided to form the threaded hole into a respective base portion 51 only as needed, particularly if it is determined whether the identical part is used as a connection unit 39 remote from the end effector or as a connection unit 37 close to the end effector. By eliminating the connection element 44 or by fluidically sealing the connection element 44 of the connection unit 37 close to the end effector, the stiffening elements 16 held on the connection unit 37 via the coupling elements 59 form a common, fluidically sealed end.

[0096] With further reference to Fig. 1 and Fig. 2, a sensor element 69 is shown, which is part of a sensor device 70. By means of the sensor device 70, a state of the stiffening device 14 and / or the feeding device 1 can be detected. This can be, for example, a temperature, a pressure, a degree of wear, etc. of the feeding device 1 or the stiffening device 14. Of particular interest is the detection of the degree of wear and / or the detection of a defect or impending defect of the protective casing element 28 and the stiffening elements 16. By means of the sensor device 70, a sensor signal can be provided, which characterizes the state of the stiffening device 14 or the feeding device 1 detected via the sensor element 69. This sensor signal characterizing the state can be provided to an evaluation unit (not described in more detail), for example a display unit, so that a user or operator of the manipulator arm 2 orIndustrial robot 3 data and / or parameters of the feeding device 1 or the stiffening device 14 can be provided.

[0097] Fig. 9 shows a perspective view of the industrial robot 3 equipped with the feeding device 1 or the manipulator arm 2 equipped with the feeding device 1. It can be seen particularly well how the protective sheath element 28 is held particularly close, i.e., essentially parallel, to the manipulator arm 2 by means of the guide device 34 or by means of the guide element 33. As a result, the elements of the feeding device 1 enclosed by the protective sheath element 28 can be held equally particularly close or particularly parallel to the manipulator arm 2 and guided by means of the guide device 34.

[0098] The stiffening device 14 is designed such that it can be applied, in particular retrofitted, to existing robot systems or manipulator arms and / or industrial robots.

Claims

[1] Feeding device (1) for a manipulator arm (2) having at least one joint, in particular of an industrial robot (3), with a flexible cable package (13), via which at least one process agent can be fed to the end effector (12) of the manipulator arm (2) at least substantially along the manipulator arm (2), and a flexible guide casing element (19) enclosing the cable package (13), where a stiffening device (14) with a holding device (15) is provided, which is arranged in a fixed position on the flexible guide casing element (19), and that at least one stiffening element (16, 23) held by means of the holding device (15) is provided, which in an activation state of the stiffening device (14) is subjected to a stiffening energy, whereby the flexible guide casing element (19) and consequently the cable package (13) are stiffened by means of the stiffening element (16, 23), wherein the holding device (15) has at least one stiffening element receptacle (17) arranged parallel to the guide casing element (19), by means of which the at least one stiffening element (16, 23) is held on the holding device (15). [2] Feeding device (1) according to claim 1, characterized by in that the at least one stiffening element (16) is designed as a flexible hose element (23), the hose wall (24) of which delimits a channel element (25) through which a fluid can flow, which channel element is completely filled with the fluid in the activated state, and the stiffening element (16, 23) is subjected to the stiffening energy by subjecting the fluid in the channel element (25) to a stiffening pressure. [3] Feeding device (1) according to one of the preceding claims, characterized by that the holding device (15) and the guide casing element (19) are formed integrally with one another. [4] Feeding device (1) according to one of the preceding claims, characterized by that the holding device (15) and the guide casing element (19) are each made at least partially from a textile structure. [5] Feeding device (1) according to one of the preceding claims, characterized by in that the stiffening device (14) has a flexible protective sheath element (28) which is formed separately from the guide sheath element (19) and which, in a protective position, jointly encloses the cable package (13), the holding device (15), the guide sheath element (19) and the at least one stiffening element (16, 23). [6] Feeding device (1) according to one of the preceding claims, characterized by that a first end (38) of the stiffening device (14) is formed by a connection unit (39) via which the stiffening device (14) can be fastened to the manipulator arm (2) remote from the end effector (12). [7] Feeding device (1) according to one of the preceding claims, characterized by that a second end (36) of the stiffening device (14) is formed by a second connection unit (37), via which the stiffening device (14) can be fastened to the manipulator arm (2) near the end effector (12). [8] Feeding device (1) according to one of the preceding claims, characterized by that the stiffening device (14) has a sensor device (70) with at least one sensor element (69), via which at least one sensor signal characterizing a state of the stiffening device (14) can be provided to an evaluation unit.

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