Control device for guiding at least one line and / or at least one medium, and use of such a control device

Abstract

A guiding device (10) for guiding at least one conduit and / or at least one medium, comprising at least one guiding element (12) which defines at least one guide channel (14) in which the conduit and / or the medium is to be received and guided, wherein the guiding element (12) has at least two nested and flexible, coaxially tubular layers (16, 18), namely a first, inner layer (16) and a second, outer layer (18) which at least partially surrounds the inner layer (16), wherein the layers (16, 18) directly define a coaxial chamber system (20) arranged between the layers (16, 18) with several chambers (22) that can be pressurized with a fluid, wherein the layers (16, 18) are impermeable to the fluid, wherein by pressurizing the chamber system (20) with the fluid the inherently flexible guiding element (12) can be stiffened and thereby brought into a self-stiffening state is transferableand wherein the guide channel (14) is directly bounded by the first, inner layer (16), characterized in that the flexible layers (16, 18) are directly connected to each other at respective connection points (24, 25), so that the chambers (22) are separated from each other at the respective connection points (24, 25) by the layers (16, 18) themselves.

Description

[0001] The invention relates to a guiding device for guiding at least one line and / or at least one medium according to the preamble of claim 1. Furthermore, the invention relates to a use of such a guiding device.

[0002] Such guiding devices for guiding at least one cable and / or at least one medium are already well known from the general prior art. Each guiding device has at least one guiding element which defines at least one guiding channel. The cable or medium is received in the guiding channel and thereby guided, in particular along the guiding channel or along the guiding element.

[0003] German patent application DE 4435644 A1 discloses a bending section for an endoscope, which is equipped with a bending mechanism that minimizes the diameter of the bending section and allows a large bending angle. A first bending mechanism uses fluid pressure in an axially oriented chamber in an elastic body of the bending section. DE 100 10 932 A1 relates to an endoscope shaft with a movable distal end section and an actuating device. DE 10 2008 009 919 A1 discloses an instrument for insertion into spaces inaccessible from the outside. DE 203 01 947 U1 discloses a watercraft. DE 10 2012 000 798 A1 discloses a device for dividing the interior of a protective hose sheath into several hose sections, each intended to accommodate a cable.

[0004] In modern production facilities, particularly in the mass production of motor vehicles such as cars, feeding devices are used for the respective industrial robots employed in this process. The feeding device is designed, for example, for a manipulator arm of the industrial robot, which typically has at least one joint, and usually features a flexible or bendable cable assembly. This assembly allows at least one process element to be fed to the end effector of the manipulator arm, primarily along its length. The guide element is, for example, an integral part of the feeding device, with the guide element, also known as the guide sleeve element, enclosing the cable assembly. The guide element itself is, for example, flexible.Furthermore, the aforementioned at least one conductor is, for example, part of the conductor assembly, such that, for example, in the respective feeding device, the particularly flexible guide element surrounds or encloses the at least one conductor. This allows the at least one conductor to be received in the guide channel and guided by the guide element.

[0005] The conduit or conduit assembly is flexible, meaning it is pliable or bendable and specifically designed to be deformed by the manipulator arm. As a result, the conduit assembly, when deformed, follows, at least substantially, the movement of the manipulator arm, particularly when the arm is moved around in space. The conduit can, for example, include at least one electrical conductor, at least one fluid conductor, and / or other pipe, cable, and / or hose element, so that the process medium can be supplied to the end effector and / or discharged from the end effector via the conduit or conduit assembly.

[0006] Furthermore, EP 2 431 140 B1 discloses a flexible tool. US 2014 / 0251638 A1 discloses a tubular device as known. KR 101 743 881 B1 discloses a fire hose.

[0007] The object of the present invention is to provide a guiding device and a use of such a guiding device in such a way that a particularly advantageous guiding of at least one line and / or at least one medium, in particular a fluid, can be realized.

[0008] This problem is solved by a guiding device with the features of claim 1 and by a use with the features of claim 8. Advantageous embodiments with expedient further developments of the invention are specified in the remaining claims.

[0009] A first aspect of the invention relates to a guiding device for guiding at least one conduit and / or at least one medium. Preferably, the conduit is a physical object, which is, for example, solid, i.e., in a solid state. The medium can, for example, be a fluid such as a liquid or a gas. The guiding device comprises at least one guiding element, which defines at least one guiding channel. The conduit or medium is received and guided within the guiding channel. In other words, the conduit or medium can be received in the guiding channel and thereby defined and guided as required along the guiding channel and thus along the guiding element.

[0010] In order to guide the conduit or medium particularly advantageously, precisely, and according to requirements, the invention provides that the guide element has at least or exactly two nested, flexible, coaxially tubular layers. The characteristic that the layers are flexible means that the layers themselves, considered individually, are inherently unstable or flexible and thus bendable. In other words, the layers are inherently flexible, so that they deform under their own weight, especially if they are not stiffened or reinforced.The feature that the layers are arranged one inside the other means that a first layer is arranged at least partially, and in particular at least predominantly or completely, within the second layer, such that the first layer is arranged at least partially, and in particular at least predominantly or completely, within the second layer. This means that the second layer surrounds at least a length of the first layer on its outer circumference, preferably completely circumferentially. The first layer is thus an inner layer, while the second layer is an outer layer that at least partially surrounds the inner layer.

[0011] The layers define a coaxial chamber system arranged between them, which comprises several chambers that can be filled with a fluid also referred to as stiffening fluid. The layers themselves are impermeable to the fluid, preventing the stiffening fluid from flowing through them. The guide channel is directly bounded by the inner layer, meaning it is located on the inner side of the layer, facing away from the outer layer. This means the inner layer is positioned between the guide channel and the chamber system, particularly in the radial direction of the guide element, thus separating the chamber system from the guide channel, either completely or fluidically.For example, if the medium flows through the guide channel, mixing of the medium flowing through the guide channel with the fluid contained in the chamber system is preferably avoided.

[0012] By applying the stiffening fluid to the chamber system, the inherently flexible guide element can be stiffened and thus transformed into a rigid state. In other words, if the chamber system is not supplied with the fluid, the guide element remains flexible due to the inherent flexibility of its layers. However, if the chamber system is supplied with the stiffening fluid, the guide element is stiffened, becoming inherently rigid and dimensionally stable. Applying the fluid to the chamber system means that the fluid is contained within the chamber system, introduced into the chamber system, and / or passed through the chamber system.

[0013] Preferably, each layer is made of a plastic, in particular a thermoplastic. The plastic can, for example, be TPU (thermoplastic urethane). Preferably, each layer is impermeable to the medium. The guide element is, for example, a tube body, which, especially if the fluid consists almost entirely of air at least in the upper part, can also be referred to as an aeration element. The guide element is inflated, or can be inflated, for example, by pressurizing the chamber system with the fluid, so that the guide element can exhibit independent inflation behavior. The guide element can be encased or wrapped, for example, internally and / or externally, in textile layers, which can, for example, be designed as woven fabric layers.The guide element and the textile layers encasing the guide element, particularly on the outside and / or inside, form, for example, a complete system for guiding the medium and / or the conductor and thus for guiding or conducting energy, so that the complete system can function or be designed as an energy supply system for supplying and / or dissipating energy. The respective textile layer can also be referred to as a textile or textile structure, or be formed from a textile structure. In particular, the respective textile layer can be designed as a flexibly flexible fabric or be formed from a flexibly flexible fabric.

[0014] The guide device enables the line or medium to be guided as needed, precisely, energy-efficiently, with minimal effort, and with a long service life. This allows, for example, a technical device such as the end effector of a manipulator arm, particularly an industrial robot, to be supplied with a process medium and / or to be discharged from the device. The process medium is, for example, the medium and / or electrical energy, which can be conveyed to the end effector via the line. Alternatively or additionally, the line or medium can be discharged from the end effector with particular advantage, so that the process medium can be discharged from the end effector with the aid of the guide device according to the invention.Of course, the guide device according to the invention can also be used for other, especially industrial, applications.

[0015] The fluid is, for example, a gas that comprises at least or exclusively air. The chamber system thus forms, for example, a ventilation system or is a component of such a ventilation system, whereby the guide element can be stiffened or reinforced as required by means of the ventilation system and thus kept inherently rigid. Since the guide element itself, i.e., when it is not stiffened, is flexible, the guide element is also simply referred to as a hose. Since, for example, pressurizing the chamber system, especially when the fluid comprises at least a gas, and in particular at least air, is also referred to as ventilation, the hose is also referred to, for example, as a ventilation hose. The design of the guide device according to the invention allows the hose to be customized in its shape, type, scaling, etc.The chamber system can be manufactured in any configuration and thus forms, for example, a closed or fluid-tight ventilation element, enabling particularly advantageous guidance of the medium or the pipe. The chamber system is, for example, a closed chamber system. This means that the chamber system, or the layers forming the chamber system, is fluid-tight, thus forming an independent and advantageous support architecture or structure. By means of this support structure, the guiding element can be particularly advantageously stiffened by pressurizing the chamber system with fluid, enabling targeted, defined, and stable guidance.

[0016] Compared to conventional solutions, the invention enables the use of advantageous or new materials, allowing the guide element to be manufactured using beneficial new production processes. Furthermore, the guide element or chamber system can be manufactured simply, thus saving time and money.

[0017] The aforementioned textile layers are produced, for example, using a textile manufacturing process, which, for instance, bonds the textile layers together. Furthermore, it is conceivable that the guide element is encased within the textile layers during their production, either through the textile manufacturing process or during the manufacturing process itself. The chamber or ventilation system can be directly integrated into the textile layers, particularly during their production, or encased within them. In particular, the textile layers can be produced using a simple textile manufacturing process, thus enabling time- and cost-effective implementation, with the guide element being easily and cost-effectively encased within the textile layers and thus integrated into them.In particular, the guide device according to the invention can be used for an energy supply, in which the end effector described above is supplied with the process medium and thus, for example, with energy. However, other technological applications for the guide device according to the invention are readily conceivable.

[0018] Since the fluid comprises, for example, at least or exclusively or at least predominantly air, the guide element can be pneumatically stiffened and thus pneumatically operated, and in particular, controlled. The fluid is supplied, for example, by a fluid source, which, for example, provides the fluid, in particular in a controlled manner. This makes the guide element pneumatically controllable, for example. Since, for example, the process medium or energy can be guided to and / or removed from the end effector by means of the guide element according to the invention, a pneumatically controllable and preferably textile, in particular fully textile, energy supply and / or energy removal to and from an end effector of an industrial robot can be realized by means of the guide element or guide device according to the invention.

[0019] The flexible layers are directly connected to each other at their respective connection points, so that the chambers are at least partially separated from each other at these connection points by the layers themselves, particularly in the circumferential direction and / or along the longitudinal extent of the guide element. The chambers can be completely fluidically separated from each other, or they can be fluidically connected, which allows the chambers to be particularly advantageously supplied with fluid. In particular, this allows the chambers to be supplied with fluid via at least one connection common to all chambers. However, by at least partially separating and thus subdividing the chambers from each other, a particularly high stiffness of the guide element can be ensured.

[0020] This means that the chambers are not separated, or not solely separated, by partition elements formed separately from and provided in addition to the layers, but rather the chambers are separated from each other by the layers themselves. This allows the number of parts, and therefore the weight, costs, and installation space requirements, to be kept to a particularly low level. Preferably, each layer is formed in itself, that is, considered on its own, as a single piece.

[0021] In an advantageous embodiment of the invention, the layers are formed integrally. This allows the number of parts and thus the costs to be kept particularly low. Furthermore, this enables a particularly advantageous tightness of the guide element for the fluid to be achieved.

[0022] In a further embodiment of the invention, the layers are designed as separate and interconnected structural elements. This allows the chamber system to be configured as needed and is particularly advantageous, enabling the guide element to be stiffened to a particularly beneficial degree.

[0023] Another embodiment is characterized by the fact that the layers are connected to each other in at least one respective connection area. In particular, the layers can be sewn together and / or bonded together by a material interlock and / or welded together and / or glued together. This allows the layers to be connected particularly tightly. The gluing and welding involve a material interlocking of the layers, which allows the layers to be connected particularly tightly.

[0024] The respective edge region is, for example, located in a respective end region or at a respective end of the respective layer or guide element. In other words, the layers are preferably connected to each other at at least one respective end of the respective layer or at their respective ends, with the layers preferably being tightly connected to each other for the fluid. This allows the guide element to be manufactured simply and therefore quickly and cost-effectively.

[0025] In a particularly advantageous embodiment of the invention, the chamber system is designed as a honeycomb system, the respective chamber of which has a polygonal, in particular at least or exactly pentagonal or hexagonal, cross-section and is thus designed as a honeycomb. This allows a particularly high stiffness of the guide element to be achieved in its stiffened state.

[0026] It has proven particularly advantageous if the layers are sewn together and / or bonded together at the respective connection point, for example by welding and / or gluing them together, which allows the layers to be joined particularly tightly.

[0027] In order to achieve a particularly targeted and demand-based supply of fluid to the chamber system, a further embodiment of the invention provides at least one ventilation port, separate from the layers and through which the fluid can flow; this port can, for example, be the aforementioned connection. The fluid can be introduced into the chamber system via the ventilation port.

[0028] A second aspect of the invention relates to the use of a guide device according to the invention. In this use, the guide device is used to guide the at least one line and / or the at least one medium to and / or from an end effector of a manipulator arm, in particular of an industrial robot. Advantages and advantageous embodiments of the first aspect of the invention are to be regarded as advantages and advantageous embodiments of the second aspect of the invention, and vice versa.

[0029] Further advantages, features, and details of the invention will become apparent from the following description of preferred embodiments and from the drawings. The features and combinations of features mentioned above in the description, as well as those mentioned below in the figure description and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0030] The drawing shows in: Fig. 1 a schematic and perspective side view of a first embodiment of a guide device according to the invention; and Fig. 2 a schematic and perspective side view of the guide device according to a second embodiment.

[0031] In the figures, identical or functionally equivalent elements are provided with the same reference numerals.

[0032] Fig. Figure 1 shows a schematic and perspective side view of a first embodiment of a guide device 10 for guiding at least one conduit (not shown in the figure) and / or at least one medium. The medium is, for example, a gas or a liquid. In other words, the medium can comprise at least or exactly one liquid and / or at least or exactly one gas. The guide device 10 comprises at least one guide element 12, which defines at least or, in this case, exactly one guide channel 14. At least a length of the at least one conduit and / or the at least one medium can be received and guided in the guide channel 14. In other words, the conduit or the medium can be arranged in the guide channel 14 and thus guided along the guide channel 14 and therefore along the guide element 12.

[0033] For example, when the guide device 10 is used to guide the line or medium, the line or medium is arranged in the guide channel 14 and is guided by means of the guide channel 14 and thus by means of the guide element 12, in particular along the guide channel 14 or along the guide element 12. In this application, the guide element 12 or the guide device 10 is used, for example, to guide the line or medium to and / or from a technical device. The technical device is, for example, an end effector of a manipulator arm. The manipulator arm is, for example, a component of a robot, also known as an industrial robot, which is used, for example, for the production, in particular the series production, of motor vehicles such as cars.The manipulator arm, also referred to as a robot arm or robot axis, is movable in space, for example, electrically and / or hydraulically and / or pneumatically, so that the end effector can be moved around in space. In particular, the guide device 10 is used to supply at least one process medium to the end effector and thus provide the end effector with the process medium, and / or the guide device 10 is used to remove the process medium from the end effector. The process medium is, for example, the aforementioned medium, and / or at least one line is used to supply the process medium to the end effector and / or remove it from the end effector.For this purpose, the line has, for example, at least one channel through which the process medium can flow and / or the line includes at least one electrical conductor by means of which the process medium, for example designed as electrical energy, can be guided.

[0034] In particular, it is conceivable that a cable package is used. The cable package comprises, for example, several cables, at least one of which is the aforementioned cable. The cable package, or the individual cable itself, is flexible and thus bendable, whereby the guide device 10 enables targeted, defined, and needs-based guidance of the respective cable.

[0035] For this purpose, the guide element 12 has at least or exactly two nested layers 16 and 18, which are inherently flexible. The respective layers 16 and 18 are, for example, made of a plastic, in particular a thermoplastic, and are inherently flexible, so that the guide element 12 is inherently flexible and thus dimensionally unstable, especially when it is not stiffened. The feature that the layers 16 and 18 are nested means that the layer 16, also referred to as the first layer, is located at least partially, in particular at least predominantly or completely, within the layer 18, also referred to as the second layer. Thus, layer 16 is an inner layer, while layer 18 is an outer layer that completely surrounds at least a length of the inner layer in the circumferential direction.This causes layers 16 and 18 to overlap each other, particularly in the radial direction of the guide element 12, which is designed here as a hose or flexible tube.

[0036] Layers 16 and 18 define a chamber system 20, arranged between layers 16 and 18, particularly in the radial direction of the guide element 12, which has several chambers 22 that can be pressurized with a fluid also referred to as stiffening fluid or stiffening fluid. In the Fig. In the first embodiment shown in Figure 1, the chambers 22 are fluidically connected to one another, but separated and thus subdivided from each other at respective interfaces 24, particularly in the circumferential direction of the guide element 12. The layers 16 and 18 are themselves fluid-tight, so that the fluid cannot unintentionally flow out of the chamber system 20. By pressurizing the chamber system 20 or the chambers 22 with the fluid, the inherently flexible guide element 12 can be stiffened and thus brought into a self-rigid state. In other words, as long as the fluid, particularly in a sufficiently large quantity, is contained in and / or flows through the chamber system 20, the inherently flexible and thus deformable guide element 12 is stiffened and thus held in a self-rigid state.Preferably, the layers 16 and 18 directly define the chambers 22, so that the fluid contained in the chamber system 20 directly touches or contacts the layers 16 and 18.

[0037] Layers 16 and 18 can be formed as a single piece. In the case of the Fig. In the first embodiment shown in Figure 1, layers 16 and 18 are designed as separate and interconnected components. Layers 16 and 18 are connected to each other, particularly tightly, in their respective end-facing connection areas 26 and 28. In this embodiment, the connection areas 26 and 28 are arranged at the respective ends 30 and 32 of the guide element 12, and thus of layers 16 and 18, so that layers 16 and 18 are tightly connected to each other at ends 30 and 32. This makes the guide element 12 fluid-tight at its end faces 34 and 36.

[0038] The separation points 24 are arranged in the longitudinal direction of the guide element 12 between the ends 30 and 32, and thus between the end faces 34 and 36, so that the chambers 22 are separated from each other at the respective separation points 24 in a longitudinal length L of the guide element 12, which is arranged or extends in the circumferential direction of the guide element 12 between the ends 30 and 32, and thus between the end faces 34 and 35. The separation points 24 extend within this length L. Each separation point 24 is straight and runs in the longitudinal direction of the guide element 12, the longitudinal direction of which is... Fig. Figure 1 is illustrated by a double arrow 38. In areas different from the separation points 24 and the connection areas 26 and 28, the layers 16 and 18 are, for example, separated from each other, detached from each other, or loosely connected, so that the fluid can be received in and flow through these areas. This results in the chambers 22 being fluidically connected.

[0039] In the first embodiment, the chambers 22 are separated from each other in the length range L exclusively in the circumferential direction of the guide element 12, specifically at the respective separation points 24. The respective separation point 24 is a connection point where the layers 16 and 18 are joined together. The preceding and following descriptions of the respective connection areas 26 and 28 can also be applied to the respective connection points and vice versa. In the connection areas 26 and 28 and at the separation points 24, the layers 16 and 18 are, for example, sewn and / or bonded together by a material connection, and thereby, for example, welded and / or glued together. This allows the layers 16 and 18 to be joined particularly tightly. The guide device 10 also includes at least one or exactly one ventilation connection 40, through which the fluid can flow.The fluid, which for example consists at least or exclusively of air, can be introduced into the chamber system 20 and thus into the chambers 22 via the ventilation port 40, so that the chamber system 20 or the chambers 22 can be supplied with the fluid via the ventilation port 40 and thus acted upon with the fluid.

[0040] Overall, it is evident that the inherently rigid guide element 12 is designed as a tube, which is also referred to as a ventilation tube, stocking, or base stocking. The base stocking is, for example, a component of a ventilation system or forms a ventilation system itself. The ventilation system, for example, provides the fluid that is introduced into the chamber system 20 via the ventilation port 40.

[0041] The application areas for which the guidance device 10 can be used range, for example, from the guidance of specific media in an industrial environment to other, further technical applications. For instance, the location of use is irrelevant for the application of the guidance device 10; only its technical properties and design are relevant, enabling the flexible guidance and / or positioning of at least one or more media and / or the aforementioned at least one cable within the, for example, self-supporting and fabric-structured guidance element 12. The guidance device 10 can also be used for other application areas or adapted for such application areas.The ventilation hose can be manufactured in any shape, type and scale, thus forming a closed ventilation element by means of which media and / or pipes can be guided particularly advantageously.

[0042] The chamber system 20 is designed, for example, as a honeycomb system, with each chamber 22 being designed as a honeycomb and thus having a polygonal, in particular pentagonal or hexagonal, cross-section. This ensures particularly high rigidity. The chamber system 20 thus forms a support architecture or structure by means of which the guide element 12 can be stiffened particularly advantageously. The support architecture can be designed almost freely and adapted to specific purposes with regard to its type of construction, the number and shape of the chambers 22, their diameter, material thickness, material properties, length, and the flexible positioning of the ventilation connection 40.

[0043] The ventilation connection 40 can be arranged or attached to the guide element 12 (ventilation hose) at virtually any point and is defined, for example, by a technical insert, and can therefore vary depending on the application. Preferably, the ventilation connection 40 is permanently connected to the ventilation hose and thus forms a technical unit, particularly in the form of the guide device 10. The type and design of the ventilation connection 40 are also at least almost freely selectable and can vary depending on the application.

[0044] The ventilation hose is preferably designed as a self-sealing system and can be operated either with process air or with a one-time ventilation during energy supply. In other words, it is conceivable that, for example, the fluid, which is designed particularly as process air, flows at least substantially continuously or permanently through the chamber system 20 during operation of the guide device 10 or the industrial robot, and is thus introduced into the chamber system 20 at a first point and discharged from the chamber system 20 at a second point. Furthermore, it is conceivable that the fluid is first introduced into the chamber system 20. Subsequently, the introduction of the fluid into the chamber system 20 is stopped, so that the previously introduced fluid remains contained within the chamber system 20.The ventilation strength, that is, for example, a pressure and / or a quantity and / or a volume of the fluid in the chamber system 20, can be set almost freely and depends, for example, on the technical requirements of a corresponding application.

[0045] The design of the ventilation tube allows, for example, the insertion of textile components of a base sock into the ventilation tube and the placement of an outer textile layer over the ventilation tube. This results in the ventilation tube, particularly both inside and out, being encased in layers of textile. These three components together can then form a base sock for energy supply and / or energy dissipation. All three components are adapted to existing connection elements. This adaptation to the connection elements creates, for example, an additional variant of a fully textile and pneumatically controlled energy supply, particularly suitable for robotics. Furthermore, the guide unit 10 can be used for other novel media routing applications and in applications outside of robotics.

[0046] Overall, it is evident that the guide element 12 is a tube body formed by at least layers 16 and 18. Layers 16 and 18 are, for example, individual tube walls that form the ventilation tube. The tube walls are connected to each other at technically advantageous or necessary positions. This connection can be achieved in various ways, such as by welding and / or bonding and / or by a manufacturing process in a composite, such as using an extrusion die, which, for example, creates the chamber system 20 during the production of layers 16 and 18. The resulting chamber system 20, also referred to as a chamber structure or honeycomb structure, forms an air body. The connection areas 26 and 28 are connection points and, for example, form the aforementioned support structure.

[0047] The connection technology of the vent port 40 can be adapted to specific requirements. For example, a fluid-flowable hose is connected to the vent port 40, allowing the fluid to be introduced into the chamber system 20 via the hose and the vent port 40. The ends 30 and 32 of the hose body, together with the inner layer 16 and the outer layer 18, serve as a clamp on the aforementioned connection elements. For example, the hose body, together with the layers 16 and 18 (which may be fabric layers), forms an energy supply for one or more internally guided media, which are guided, for example, through the guide channel 14.

[0048] Fig.Figure 2 shows a second embodiment of the guide device 10. The second embodiment differs from the first embodiment in particular in that the chambers 22 of the chamber system 20 in the length range L are not only separated and thus subdivided from one another in the circumferential direction of the guide element 12 by the separating points 24, but the chambers 22 are also separated and thus subdivided from one another in the longitudinal direction of the guide element 12 in the length range L. For this purpose, the layers 16 and 18 in the length range L are connected to one another, in particular directly, at respective, further connection points 25. Thus, the connection points 25 are further separation points at which the chambers 22 are separated from one another in the longitudinal direction of the guide element 12.

Claims

[1] Guide device (10) for guiding at least one line and / or at least one medium, with at least one guide element (12) which delimits at least one guide channel (14) in which the line and / or the medium can be received and guided, wherein the guide element (12) has at least two pliable, coaxially tubular layers (16, 18) arranged one inside the other, namely a first, inner layer (16) and a second, outer layer (18) at least partially surrounding the inner layer (16), wherein the layers (16, 18) directly delimit a coaxial chamber system (20) arranged between the layers (16, 18) with a plurality of chambers (22) which can be supplied with a fluid, wherein the layers (16, 18) are tight for the fluid, wherein by supplying the chamber system (20) with the fluid, the inherently pliable guide element (12) can be stiffened and thereby converted into a can be converted into an inherently rigid state,and wherein the guide channel (14) is directly delimited by the first, inner layer (16), , characterized by that the flexible layers (16, 18) are directly connected to one another at respective connecting points (24, 25), so that the chambers (22) are separated from one another at the respective connecting points (24, 25) by the layers (16, 18) themselves. [2] Guide device (10) according to claim 1, characterized by that the layers (16, 18) are formed integrally with one another. [3] Guide device (10) according to claim 1, characterized by that the layers (16, 18) are designed as components which are formed separately from one another and connected to one another. [4] Guide device (10) according to one of the preceding claims, characterized by that the layers (16, 18) are connected to one another in at least one respective connecting region (26, 28). [5] Guide device (10) according to one of the preceding claims, characterized bythat the chamber system (20) is designed as a honeycomb system, the respective chamber (22) of which has a polygonal cross-section. [6] Guide device (10) according to one of the preceding claims, characterized by that the layers (16, 18) are sewn together at the respective connection point (24, 25) and / or materially joined together and / or welded together and / or glued together and thereby connected to one another. [7] Guide device (10) according to one of the preceding claims, characterized by at least one ventilation connection (40) formed separately from the layers (16, 18) and through which the fluid can flow, via which the fluid can be introduced into the chamber system (20). [8] Use of a guide device (10) according to one of the preceding claims, wherein the guide device (10) is used to guide the at least one line and / or the at least one medium to and / or from an end effector of a manipulator arm.

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