Device for securing a cable assembly

Abstract

Device for fastening a cable assembly (18) comprising supply lines for a tool to an industrial robot (10) carrying the tool, wherein the tool is connected to a robot axis (16) in a rotationally fixed manner, with a first fastening element (26) connected to the robot axis (16) in a rotationally fixed manner and a second fastening element (28) mounted on the first fastening element (26) at a distance from the robot axis (16) and rotatably about an axis of rotation (40), to which the cable assembly (18) is attached, characterized in that the second fastening element (28) is mounted on the first fastening element (26) so as to be rotatably rotated between two end stops (48) and that the angular distance between the end stops (48) is variable.

Description

[0001] The invention relates to a device for attaching a cable package comprising supply lines for a tool to an industrial robot carrying the tool, according to the preamble of claim 1.

[0002] Multi-armed and multi-axis industrial robots are widely used in industrial manufacturing. They carry one or more tools with which workpieces are machined and which, for this purpose, must be supplied with media such as energy, especially electricity, compressed air, cooling water, etc. The tools are supplied with these media via supply lines that are bundled into a cable assembly, which is usually encased in a protective sleeve. The cable assembly is typically attached to the industrial robot, although the robot's movements require a limited degree of freedom of movement for the cable assembly. In particular, in devices of the type mentioned above that are frequently used in practice, the cable assembly is attached to a robot component that is rotatable about the sixth and final robot axis and carries the tool(s).To allow freedom of movement for the cable assembly, a rotary bearing is arranged between the first and second fastening elements in the previously known devices, enabling free rotation of the first fastening element relative to the second. A disadvantage of such devices is that this free rotation can unintentionally cause the cable assembly to move into a position from which it can be kinked and damaged during a backward movement. DE 10 2016 009 546 A1 discloses a device for fastening a cable assembly to a robot, which has two fastening elements. A first fastening element is rotationally fixed to a robot axis, while a second fastening element, to which the cable assembly is attached, is fixed to the first fastening element.It is possible to release the fixing and pivot the second fastening element relative to the first fastening element and fix it again in a different position.

[0003] It is therefore an object of the invention to further develop a device of the type mentioned above in such a way that damage to the supply lines can be better avoided.

[0004] This problem is solved according to the invention by a device having the features of claim 1. Advantageous embodiments of the invention are the subject of the dependent claims.

[0005] The invention is based on the idea of ​​selectively restricting the mobility of the cable assembly in order to prevent unwanted movements of the cable assembly. For this purpose, the invention provides that the second fastening element is not freely rotatable about the axis of rotation relative to the first fastening element, but rather its rotation is limited between two end stops.

[0006] According to the invention, the angular distance between the end stops is variable. This makes it possible to adapt the mobility of the first fastening element relative to the second fastening element to different conditions. The angular distance can be varied continuously or discretely. Advantageously, the end stops are each formed by an end stop element arranged on the first fastening element, which is preferably detachably attached to the first fastening element. The end stop elements also preferably project from the first fastening element parallel to the axis of rotation.

[0007] To allow for variation of the angular distance between the end stop elements, it is preferred that the end stop elements can be attached to the first mounting element at different angular distances from each other. Mounting methods that allow for continuously variable angular distances or discretely variable angular distances can be provided. Advantageously, a stop element projects radially from the second mounting element to the axis of rotation, and this stop element is movable to a limited extent between the end stop elements by rotating the second mounting element about the axis of rotation.

[0008] To prevent noise generation, the end stop elements and / or the stop element expediently have a metal body covered with a damping layer, preferably made of an elastomeric material.

[0009] The invention will now be explained in more detail with reference to an exemplary embodiment shown schematically in the drawing. The drawing shows... Fig. 1 an industrial robot with a cable package and a mounting device; Fig. 2 a representation of the fastening device according to Fig. 1 without system holder and Fig. 3a, b Partial representations of the fastening device according to Fig. 1, Fig. 2 in perspective view and partly in section.

[0010] In Fig.Figure 1 shows a six-axis industrial robot 10, which has a tool holder 14 on its last robot arm 12, where a tool can be mounted. The last robot arm 12 is rotatable about the sixth robot axis 16. A cable assembly 18 is arranged on the industrial robot 10, which includes supply lines for the tool enclosed in a protective sleeve 20 (not shown in the drawing). The cable assembly 18 is only partially attached to the robot arms to allow sufficient freedom of movement when the industrial robot 10 moves. A return box 22 is also mounted on the industrial robot 10, providing additional length for the cable assembly 18.

[0011] The cable assembly 18 is connected to the last robot arm 12 by means of a fastening device 24, which has a first fastening element 26 and a second fastening element 28. The first fastening element 26 has a clamp 30 that is rotationally fixed to the last robot arm 12. It also has a rod 32 extending transversely to the sixth robot axis 16, which is fixedly connected to the clamp 30, and on which a slide 34 is arranged that is longitudinally displaceable and fixable to the rod 32. The slide 34 is provided with screw holes 36 arranged in a circle at constant angular intervals. A screw bolt 38 is screwed into each of the screw holes 36 as an end stop element 38 for movement of the second fastening element 28 relative to the first fastening element 26. The second fastening element 28 extends parallel to the axis of rotation 40 and projects from the first fastening element 26.

[0012] The second fastening element 28 is rotatably mounted on the first fastening element 26 about an axis of rotation 40. It has an attachment 42 from which a bolt, acting as a stop element 44, projects radially to the axis of rotation 40. A system holder 46 is mounted on this bolt, in which the protective hose 20 is received. The stop element 44 is located between the end stop elements 38, which form end stops 48 for rotation of the second fastening element 28 about the axis of rotation 40. The maximum angle of rotation is determined by the end stops 48 and can be varied by changing the angular distance between the two end stop elements 38, i.e., by relocating the screw bolts to different screw holes 36.

[0013] In summary, the following can be stated: The invention relates to a device 24 for attaching a cable assembly 18, comprising supply lines for a tool, to an industrial robot 10 carrying the tool, wherein the tool is connected to a robot axis 16 in a rotationally fixed manner, with a first fastening element 26 connected to the robot axis 16 in a rotationally fixed manner, and a second fastening element 28 mounted on the first fastening element 26 so as to be rotatable about an axis of rotation 40 at a distance from the robot axis 16, to which the cable assembly 18 is attached. According to the invention, the second fastening element 28 is mounted on the first fastening element 26 so as to be rotatable to a limited extent between two end stops 48.

Claims

[1] Device for attaching a cable assembly (18) comprising supply lines for a tool to an industrial robot (10) carrying the tool, wherein the tool is connected to a robot axis (16) in a rotationally fixed manner, with a first fastening element (26) connected to the robot axis (16) in a rotationally fixed manner and a second fastening element (28) mounted on the first fastening element (26) at a distance from the robot axis (16) and rotatably about an axis of rotation (40), to which the cable assembly (18) is attached, characterized by , that the second fastening element (28) is mounted on the first fastening element (26) between two end stops (48) so as to be rotatable to a limited extent and that the angular distance between the end stops (48) is variable. [2] Device according to claim 1, characterized by , that the end stops (48) are each formed by an end stop element (38) arranged on the first fastening element (26). [3] Device according to claim 2, characterized by , that the end stop elements (38) are detachably attached to the first fastening element (26). [4] Device according to claim 2 or 3, characterized by , that the end stop elements (38) protrude from the first fastening element (26) parallel to the axis of rotation (40). [5] Device according to any one of claims 2 to 4, characterized by that the end stop elements (38) can be attached to the first fastening element (26) at different angular distances from each other. [6] Device according to any one of claims 2 to 5, characterized by , that a stop element (44) protrudes radially from the second fastening element (28) to the axis of rotation (40), which is movable to a limited extent between the end stop elements (38) by rotating the second fastening element (28) about the axis of rotation (40). [7] Device according to any one of claims 2 to 6, characterized bythat the end stop elements (38) and / or the stop element (44) have a metal body covered with a damping layer, preferably made of an elastomeric material.

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