Feeding device

Abstract

Feeding device (30), in particular for an industrial robot (10), with a flexible holding device (60) that receives flexible hoses (90), wherein the hoses (90) can be filled with or are filled with a pressure medium, wherein the holding device (60) surrounds a receiving space (51) and wherein supply lines running in the longitudinal direction of the hoses (90) can be accommodated in the receiving space (51), characterized in that the receiving space (51) is formed at least partially by a support device (50) that has a higher stiffness than the holding device (60), wherein the support device (50) holds the holding device (60) in shape so that it can no longer move uncontrollably into the receiving space (51).

Description

The invention relates to a feed device, in particular for an industrial robot, having a limp holding device which accommodates limp hoses, wherein the hoses can be filled or are filled with a pressure medium, wherein the holding device surrounds an accommodation space and wherein supply lines running in the longitudinal direction of the hoses are arranged in the accommodation space.Industrial robots are frequently used in modern manufacturing systems. The industrial robot has a manipulator arm which has a hand axis at its free end. A tool is usually guided on this hand axis, with which a production task can be accomplished. Processing means must be provided in the area of the tool. This can be electricity, at least one fluid, at least one object, etc. The processing medium is supplied to the tool via a supply device.During the machining operation, the industrial robot performs movements to bring the tool to an appropriate position. The feed device must thereby track the movement and for this purpose be designed to be flexible.DE 10 2018 002 026 A1 proposes a feeding device which has a holding device. The holding device is formed from a flexurally slack component, in particular from a woven material. It has a central guide jacket element. A plurality of reinforcing element receptacles are arranged distributed around the guide jacket element. Compressed air hoses can be accommodated in the reinforcement element receptacles.If the compressed air hoses are supplied with compressed air, they move the holding device into an extended position. A protective jacket can be placed around the holding device for protection and fastened with a hook and loop strip.As explained above, the holding device can be converted into a stretched position by the application of compressed air. In this case, it is such that the holding device can nevertheless be fastened in an arcuate manner on the manipulator arm of the industrial robot, forming a length compensation region. The arcuate length compensation region creates the possibility of simulating the feed device with the tool movement during movements of the tool.A further feed device is known from DE 10 2019 000 691 A1. US 2017 / 0292502 A1 discloses actuators which can be switched between a rigid and a flaccid state.It is the object of the invention to provide a feed device which is improved compared with the prior art and has a significantly increased service life.This object is achieved in that the receiving space is formed at least in regions by a support device which has a higher rigidity than the holding device.The support device accommodates the supply lines, for example cables, hose lines, etc., which are guided in the supply device. Here they are accommodated in a protected manner.It has been found that in the prior art, the flexible hoses, which are subjected to compressed air, sometimes lead to an excessively strong clamping of the supply lines in the receiving space. As a result, strong friction could be created between the supply lines among one another and / or between the supply lines and the inner wall of the holding device, which resulted in damage to the supply lines.This disadvantageous effect is reliably prevented with the invention, since the support device has a higher rigidity than the holding device and thus excessive clamping of the supply lines in the receiving space is prevented. In particular, it is such that the support device holds the holding device in the form, so that it can no longer move into the receiving space in an uncontrolled manner.According to a preferred embodiment variant of the invention, it can be provided that the support device is at least regionally tubular, preferably formed at least in a partial region by a corrugated tube or a corrugated tube. The tubular structure enables a reliable dissipation of the forces acting via the holding device. If the support device is simultaneously designed as a cladding tube or as a corrugated tube, this effect is retained and at the same time the flexibility of the support device and thus of the entire feed device is improved.According to the invention, it can also be provided that the holding device forms a jacket which is arranged around the supporting device and which bears against the outer side of the tubular supporting device.According to a particularly preferred embodiment of the invention, it is provided that the holding device has stiffening element receptacles separated from one another, and that at least one hose is respectively received in the stiffening element receptacles. In this case, it is preferably the case that, in contrast to the prior art, the reinforcing element receptacles are not held radially on the outside on a central guide jacket element, but rather form the guide jacket element in a mutually juxtaposed manner. This prevents uncontrolled deformation of the holding device in certain operating states.One conceivable variant of the invention can be such that the stiffening element receptacles are delimited by two material layers, wherein the inner material layer bears against the outer side of the supporting device and / or the outer material layer bears against the inner side of a protective jacket. This forms a simple and compact construction.The feed device according to the invention can in particular also be such that the stiffening element receptacles are arranged in a row in the circumferential direction of the support device and are delimited from one another by means of a separating region running in the longitudinal direction of the tube accommodated in the stiffening element receptacle. It is preferably such that the holding device is designed as a textile element or is formed by textile blanks, wherein the separating region is preferably formed by one or more seams running in the longitudinal direction. This results in a highly flexible arrangement which can reliably follow the movements which the feed device has to perform during operation. In addition, this material reliably resists the loads occurring during the use.In order that the hoses and the holding device remain held in position with respect to one another reliably and in a simple manner, it can be provided that the holding device has at least one longitudinal end of at least one stiffening element receptacle, in particular an integrally formed strain relief, which is connected indirectly or directly to the longitudinal end of the hose, which is accommodated in the stiffening element receptacle. It can be the case here that a component is connected to the longitudinal end of the hose, which component interacts with the strain relief. The component can in particular also be a functional part to which a further technical function is assigned, for example this functional part can be a closure piece which closes the hose on one side or it can be provided that the closure piece has a line section via which the hose is filled with the pressure medium, for example compressed air.A particularly simple construction results if it is provided that the strain relief is formed by at least one material tab and an aperture worked therein, in the region of which the tube end is held indirectly or directly. For example, the material tab can be placed over the above-mentioned closure piece, wherein the closure piece is passed through the opening. It is preferably such that material flaps are provided on opposite sides, which are connected indirectly or directly to the tube end for strain relief.An conceivable alternative of the invention is such that the holding device is formed by two material layers arranged one behind the other in the radial direction of the supporting device, and that the edges of the material layers are connected to one another at a connecting section such that a tubular jacket is formed. In this way, a uniform distribution of the reinforcement element receptacles and thus of the hoses around the circumference of the support device can be realized in a simple manner.If it is provided that the support device ends with a longitudinal end in a region surrounded by a coupling device, then a reproducible bending behavior of the feed device is achieved up to the coupling device. It is preferably such that coupling devices are provided at both longitudinal ends of the feed device, and that the support device preferably extends at its two longitudinal ends respectively into the region surrounded by the associated coupling device.It is particularly preferably provided that the / a protective jacket is provided in the form of a hose piece which is preferably held at least at one of its longitudinal ends by means of a clamping device on a / the coupling device. With the protective jacket, the outer side of the holding device can be reliably protected from mechanical loading.Particularly preferably, the one-piece protective jacket is designed as a jacket element which extends continuously, at least in regions, in a seamless manner. It has been found that such an embodiment is particularly durable. In particular, such an embodiment has no seam on its outer periphery, which forms a weak point in the protective jacket which is subjected to severe friction. The service life can thereby be considerably increased.It is preferably such that the / a protective jacket surrounding the holding device is held at least at one of its longitudinal ends on a / the coupling device by means of a clamping device. The clamping connection holds the protective jacket reliably on the coupling device even under sustained loads.A reliable connection between the coupling device and the protective jacket results in particular when it is provided that the clamping device has an inner clamping ring and an outer clamping ring, wherein the inner clamping ring has an outer cone and the outer clamping ring has an inner cone, and that the / one protective jacket is held clamped between the inner cone and the outer cone.The invention is explained in more detail below with reference to an exemplary embodiment shown in more detail in the drawings. The following are shown: FIG. 1 shows a perspective illustration of an industrial robot with a feed device, FIG. 2 shows a perspective illustration of a section of the feed device illustrated in FIG. 1, FIG. 3A shows the feed device according to FIG. 2 in a front view, FIG. 3B shows the feed device according to FIG. 3A in a side view, FIG. 3C shows the feed device in a sectional view along the sectional profile marked III-III in FIG. 3B, FIG. 4 shows the feed device according to FIGS. 3A to 3C in an exploded view, FIG. 5 shows the detail marked with V in FIG. 3C in an enlarged illustration, FIG. 6 shows a structural unit of the feed device according to FIGS. 3A to 3C in a perspective view from behind, FIG. 7 shows a further structural unit of the feed device in a perspective view from the front, FIG. 8A is a developed view of a holding device of the feed device, FIG. 8B shows the holding device according to FIG. 8A in a perspective view, FIG. 8C shows the holding device according to FIGS. 8A and 8B in an assembled representation, FIG. 8D shows the holding device according to FIG. 8A in a view from above, FIGS. 9 and 10 show the feeding device in various mounting representations, FIG. 11A shows a further detail of the feed device in side view, FIG. 11B shows the illustration according to FIG. 11A along the section profile marked XI-XI in FIG. 11A, FIG. 12 shows the detail of the feed device according to FIGS. 11A and 11B in an exploded illustration, FIG. 13 shows a guide of the feed device in exploded view, FIG. 14 shows the representation according to FIG. 13 in an assembled representation, and FIG. 15 shows an assembly of the feed device according to FIG. 1 in a perspective illustration.FIG. 1 shows an industrial robot 10 of conventional design, wherein the industrial robot 10 has a manipulator arm 11. The industrial robot 10 has a plurality of pivot axes, of which the so-called pivot axes five and six are identified by way of example in FIG. 1. They are marked in FIG. 1 with the reference numerals 12 and 13. In the region of the pivot axis 6, which is also referred to as the hand axis, a connection side is formed, to which a tool 14 can be fastened. The tool 14 is only schematically shown in the drawing.Of course, the invention can be used not only on industrial robots 10 of this type, but also on industrial robots 10 of different construction, which have a different number of pivot axes.During the production process, processing means must be provided to the tool 14, which processing means can be, for example, liquid or gaseous media, objects, for example screws, rivets, etc., electricity, welding filler material, etc. The feeding is effected via the feeding device 30 shown in FIG. 1.The feed device 30 has a flexurally slack structural unit which is guided from a first end piece 31 to a second end piece 32.The feed device is coupled to the industrial robot in a fixed position by the first end piece 31, preferably to the manipulator arm 11. In this case, a clamp 25 is preferably used, which couples the first end piece 31 to the industrial robot 10 via a holder 23.The feed device 30 is coupled to the manipulator arm 11 in the region of the hand axis 13 by the second end piece 32. In this case, for example, a bearing piece 27 can be used which pivotably receives the second end piece 32. The bearing piece 27 is connected to the manipulator arm 11.In the region between the two end pieces 31, 32, a guide 24 can be provided. The guide 24 is likewise coupled to the industrial robot 10, preferably to the manipulator arm 11. The guide 24 is designed in such a way that the region of the feed device 30 formed between the end pieces 31, 32 can be displaced relative to the guide 24 on or in the guide 24. It is preferably such that the guide 24 comprises the feed device 30 on its outer periphery in order to form this longitudinal guide.Starting from the second end piece 32, the feed device 30 extends over an extended component section to the guide 24, as can be seen in FIG. 1. Following the guide 24, the feed device 30, which is formed from a flexurally slack structural unit, forms an arcuate length compensation region 33.If the industrial robot 10 performs a movement during the production process, due to the required working position of the tool 14 in the region of its pivot axes, in particular in the region of the pivot axes 12 and 13, the distance of the second end piece 32 from the guide 24 changes.If the distance increases, the extended section between the second end piece 32 and the guide 24 extends, the required length being made available and tracked by the arc-shaped length compensation region 33. If the distance decreases, the length compensation region 33 increases accordingly.In the region between the two end pieces 31 and 32 and above all in the length compensation region 33, the feed device 30 is designed to be flexurally slack and elastic, so that it generates a restoring behavior. By means of this restoring behavior, the stretched alignment or the approximately stretched alignment is ensured and maintained in the region between the guide 24 and the second end piece 32. In particular, this prevents uncontrolled movement of this region of the feed device 30, in order to reduce damage to the feed device.The structure of the feed device 30 is explained in more detail below. In this case, the construction of the feed device 30 in the region of the second end piece 32 will be discussed first.FIG. 2 shows an isolated representation of this region of the feed device 30. By means of this coupling device 40, the feeding device 30 can be connected at its longitudinal end to the industrial robot 10 via the bearing piece 27. As already mentioned above, the coupling device 40 can be held pivotably on the bearing piece 27. For example, it may be the case here that the coupling device 40 provides a suitable bearing contour 45 which enables a pivotable coupling to a counter-bearing contour of the bearing piece 27. As FIG. 2 illustrates in more detail, the bearing contour 45 can be formed by a spherical contour which cooperates with a correspondingly concave counter-contour of the bearing piece 27 to form the pivot bearing. This results in a pivot mounting in the form of a ball joint.FIG. 2 further illustrates that the coupling device 40 can form a housing which is composed of housing parts 41, 42. In the present exemplary embodiment, two housing parts 41, 42 are used, which are placed against one another along a parting plane and are screwed to one another, as FIGS. 3A and B illustrate.FIGS. 3C and 4 and 5 show the detailed structure of the coupling device 40. This construction is explained in more detail below with reference to the illustrations.As FIG. 3C shows, the coupling device 40 has an extension 43 on one side. The extension 43 surrounds a feedthrough which provides access to the interior of the coupling device 40. Preferably, the enlargement 43 is formed as a passage which increases in diameter continuously towards the outside of the coupling device 40 and which can in particular be of a trumpet-like configuration.Following the widening 43, the coupling device 40 forms a receptacle 44, which can preferably be designed in the form of a circumferential groove. At its longitudinal end, the coupling device 40 has a passage 49, which likewise provides access to the interior of the coupling device 40. In the region of the passage 49, a fastening section 46 can be provided, which can likewise be designed in the form of a circumferential groove. Furthermore, it can be provided that the coupling device 40 forms a clamping ring receptacle 47 in the region of the feedthrough 49, in which a strain relief 130 in the form of a clamping ring is accommodated.It has been explained above that the coupling device 40 forms a housing which is composed of two housing parts 41, 42. FIG. 3C shows screw receptacles 48 of the lower housing part 41. These screw receptacles 48 are aligned with threaded receptacles of the upper housing part 42. Fastening screws can be passed through the screw receptacles 48 and screwed into the threaded receptacles in order to connect the two housing parts 41, 42 to one another.FIGS. 4 and 5 illustrate that the strain relief 130 is accommodated in the clamping ring receptacle 47. In this case, the strain relief 130 is accommodated in the clamping ring receptacle 47 in such a way that it is connected positively to the coupling device 40 in the axial direction of the coupling device 40 (the axial direction runs from left to right in FIG. 3B along the section line drawn in dashed lines).The strain relief 130 can be designed as a slotted clamping ring, as shown in FIG. 4. When the two housing parts 41, 42 are closed, the clamping ring is transferred into a clamping state, reducing its slot.The drawings according to FIGS. 3C to 5 further illustrate that the above-mentioned flexurally slack component, which is guided between the end pieces 31, 32, is held on the coupling device 40.For further clarification, the design of the limp component is discussed below.As FIG. 6 illustrates, the flexurally slack component has a holding device 60 which has a plurality of stiffening element receptacles 61. The stiffening element receptacles 61 are arranged distributed in the circumferential direction, preferably uniformly distributed.The structure of the holding device 60 can be seen in more detail in FIGS. 8A to 8D. These drawings will be described in more detail below.As FIG. 8A shows, the holding device 60 in developed view consists of at least two superimposed material layers of a flexurally slack material, for example a woven fabric. The material layers are connected to one another by means of seam regions 62. The seam regions 62 are arranged spaced apart from one another, so that the stiffening element receptacles 61 are produced between seam regions 62. The suture areas 62 can be formed by one or more sutures running in the longitudinal direction of the holding device 60, as FIGS. 8B and 8D illustrate. The stiffening element receptacles 61 are thus formed in the form of hollow chambers which run at least over part of the longitudinal extent of the holding device 60.At the two outer edges 63.1, 63.2, material regions can be formed which can be placed one above the other in order to form the closed shape of the holding device 60 shown in FIG. 8C. In this case, the holding device 60 can take the form of a jacket which encloses a receiving space 65. The edges 63.1, 63.2 can be connected to one another in a suitable manner, for example can be sewn togetherIt can furthermore be provided that in the region of the longitudinal ends, incisions 63 are present between the stiffening element receptacles 61. One incision 63 or a plurality of incisions 63 can be provided. The notches 63 result at the longitudinal ends of the stiffening element receptacles 61 in material attachments which can be configured, for example, in the form of a flap. The material projections, together with apertures, can form strain reliefs 64 which pass through the material projections. This will be explained in more detail later.As FIGS. 6 and 7 show, hoses 90 can be accommodated in the stiffening element receptacles 61. In FIG. 6, only one hose 90 is shown by way of example. Preferably, however, all or a part of the augmentation element receptacles 61 are each covered with one or more hoses 90. The hoses 90 extend in the direction of the longitudinal extension of the holding device 60 The hoses 90 are also designed to be flexurally slack. The hoses 90 can be filled with a suitable pressure medium; it is conceivable to use a gaseous or a liquid fluid as pressure medium. Preferably, compressed air is used as the pressure medium.Particularly preferably, a support device 50 is arranged within the receiving space 65 of the holding device 60. The support device 50 can be formed as a limp component and can be tubular.It is preferably such that at least a part of the reinforcing element receptacles 61 directly abut the outer side of the support device 50 with their contour facing the receptacle chamber 65.The support device 50 forms a receiving space 51. Preferably, the receiving space 51 is formed to be closed circumferentially by means of the support device 50. Preferably, the support device 50 extends over the entire region of the feed device 30 which is formed between the two end pieces 31, 32. Particularly preferably, the support device 50 extends at its longitudinal ends as far as into the region surrounded by both end pieces 31, 32. However, it is also conceivable that only one longitudinal end of the support device 30 extends into the region formed by an end piece 31 or 32.FIG. 6 further shows that the holding device 60 is surrounded by a protective jacket 80. The protective jacket 80 is formed from a flexurally limp material. Preferably, the protective jacket 80 is formed by a hose section. Preferably, the protective jacket 80 is designed as a seamless hose. Seamless in this context means that no seam extends in the longitudinal direction of the protective jacket 80. However, seams can be provided in the transverse direction.Particularly preferably, the hose is designed as a circular knitted hose.The protective jacket 80 serves to at least partially jacket the holding device 60 in order to protect it from mechanical loading. The protective jacket 80 preferably abuts with its inner contour on the outer side of the holding device 60. In this case, it is preferably the case that the holding device 60 bears with at least part of its wall regions delimiting the reinforcing element receptacles 61 on the outside against the inner side of the protective jacket 80.As FIG. 4 shows, the protective jacket 80 can be connected to the coupling device 40 by means of a clamping device 70. It may be the case here that the clamping device 70 has an inner clamping ring 71 which forms an outer cone. Furthermore, the clamping device 70 can have an outer clamping ring 72, which has an inner cone 72 adapted to the outer cone of the inner clamping ring 71. The wedge angles of the inner cone and the outer cone are matched to one another such that a self-locking clamping connection results when the two clamping rings 71, 72 are pushed together. In the region between the inner cone and the outer cone, the protective jacket 80 is held clamped at its longitudinal end, as FIG. 9 shows in the assembled representation.The clamping device 70 and thus the protective jacket 80 are held on the coupling device 40 in a tension-relieved manner. For this purpose, it may be the case, for example, that the outer clamping ring 72 is inserted into the receptacle 44 of the coupling device 40, as illustrated in the sectional illustration according to FIG. 3C. In this case, the outer clamping ring 72 is accommodated in the coupling device 40 such that it cannot be displaced in the longitudinal direction of the feed device 30.FIG. 8 also illustrates that the support device 50 is guided as far as into the region surrounded by the coupling device 40. Preferably, the holding device 50 is guided as far as the region which lies in the region of the clamping device 70.FIG. 3C also shows the function of the extension 43; this serves to compensate a bending movement of the protective jacket 80 relative to the coupling device 40, so that here no bending can take place in the region of the extension 43.FIG. 3C also illustrates that the holding device 60 can be led out of the longitudinal end of the supporting device 50 in the region of the coupling device 40. Accordingly, the stiffening element receptacles 61 can also extend beyond the longitudinal end of the support device 50 into the region surrounded by the coupling device 40.It is also conceivable for the hoses 90 to extend beyond the longitudinal end of the support device 50 into the coupling device 40.FIGS. 3C and 5 show that the hoses 90 can be closed at their longitudinal ends with a closure piece 100. It is preferably such that the closure pieces 100 are inserted with an insert element 101 into the longitudinal end of the hose 90 and are fastened here in a sealed manner. It is preferably such that the insert element 101 is welded to the longitudinal ends of the hose 90. Following the insert element 101, the closure piece 100 has a transition section 102 which merges into a head 103.The hoses 90 can be connected at their longitudinal ends to the coupling device 40. This is illustrated in more detail in FIGS. 4 and 5. As these illustrations show, fixing elements 110, 120 can be used for this purpose, which fixing elements connect the longitudinal ends of the hoses 90 in a form-fitting manner to the coupling device 40.One conceivable design variant is such that the fixing element 110 is designed in the form of a ring which has recesses 111 on the circumferential side. The fixing element 110 can be inserted into the region which the annularly arranged closure pieces 100 surround. The recesses 111 engage on the inside of the transition sections 102 of the closure pieces 100.In a similar manner, the fixing elements 120 are designed as ring segments which engage on the outside at the transition sections 102 with recesses. In other words, the closure pieces 100 are enclosed between the inner fixing element 110 and an associated outer fixing element 120. The head 103 and the insert element 161 prevent axial displacement of the hose 90.Preferably, the longitudinal end of one or more hoses 90 is / are at least partially surrounded by a support element 150 in order to secure the connection, for example the welded connection, between the closure piece 100 and the hose 90.The support element 150 may be formed in the form of a sleeve 151. For example, this sleeve can be inserted into the stiffening element receptacle 61 at the end, so that it comes to lie between the inside of the stiffening element receptacle 61 and the outside of the hose 90 and thus encloses the hose 90. The insertion movement of the support element 150 can be limited, for example, by a stop 152, wherein the stop 152 can be designed as a ring which is integrally connected to one end of the sleeve 151 in order to ensure a simple construction.For production, the support device 50 can be prefabricated with the holding device 60 and the hoses 90 accommodated in the stiffening element receptacles 61, wherein the hoses 90 are covered at the ends with the closure pieces 100. The protective jacket 80 is pushed over the holding device 60, prefabricated with the clamping device 70. Furthermore, the fixing element 110 is arranged in the region surrounded by the hoses 90, and the support elements 150 are mounted. The two fixing elements 120 can now be inserted into the fastening sections 46 provided for them of the respectively assigned housing part 41, 42. Furthermore, the strain relief 130 can be inserted into the associated clamping ring receptacle 47.The two housing parts 41, 42 can then be screwed together (see above).By means of the coupling device 40, the hoses 90 sealed at the end side in a pressure-proof manner can be held securely on the coupling device 40. Additionally or alternatively, the holding device 60 and / or the protective jacket 80 and / or the supporting device 50 can also be indirectly or directly fixed to the coupling device 40.At the end opposite the coupling device 40, the feed device 30 is equipped with the end piece 31, which advantageously enables the supply of a pressure medium into the hoses 90.This will be explained in more detail below with reference to FIGS. 11A to 12. The end piece 31 has a coupling device 140. The coupling device 140 can be largely identical or similar in structure to the coupling device 40, so that only the differences will be discussed below in order to avoid repetitions.The coupling device 140 has two housing parts 141, 142 which can be connected to one another in the region of a parting plane, as is also possible in the case of the coupling device 140. For this purpose, screw receptacles 148 are again provided in the housing parts 141, 142.The coupling device 140 has a receptacle 144. The protective jacket 80 can be secured in this receptacle 144 with a further clamping device 70, wherein the clamping device 70 is of identical construction to the above-described clamping device 70 which is secured to the coupling device 40. The receptacle 144 is also of identical design to the receptacle 44.On the outside, the coupling device 140 has a fastening receptacle 145 which is suitably designed to connect the coupling device to the manipulator arm 11 by means of a suitable connecting device, for example the clamp 25.The coupling device 140 also has a fastening section 146, which serves to fix a pressure distributor 180 to the coupling device 140.The longitudinal ends of the hoses 90 are again covered with a closure piece 160 in the area of the coupling device 140. As in the case of the closure piece 100, this closure piece 61 also has an insert element 161, which is connected to the end of the associated hose 90, preferably in a medium-tight manner, in particular in an airtight manner. Reference is made to the above explanations. In contrast to the closure piece 100, however, the closure piece 160 does not close the tube 90 at the end, but rather the closure piece 160 has a line section 162 which is guided through the closure piece 160 to a head 163. At the head 163, a compressed air connection for a compressed air coupling 190 is produced. The pneumatic coupling 190 is part of the pressure distributor 180. Thus, a pressure medium, preferably compressed air (or another pressure medium), can be conducted from the pressure distributor 180 into the hoses 90 via the compressed air couplings 190 and the line sections 162 of the closure piece 160.The pressure medium is introduced into the pressure distributor 180 via a suitable connecting piece 170, for example via a compressed air connection, which is inserted into a receptacle 185 of the base body 182.The structure of the pressure distributor 180 will be explained in more detail below.As shown in FIGS. 11B and 12, the pressure manifold 180 includes a base body 182 having a manifold passage 183. The distribution channel 183 is connected to the compressed air couplings 190 in such a way that the pressure medium, preferably compressed air, can be introduced from the connection piece 170 into the hoses 90.The pressure distributor 180 has one or more fastening shoulders 181, which can be designed as shoulders protruding from the base body 182. By means of the fastening extension or extensions 181, the pressure distributor 180 can be fixed to the coupling device 140. For example, the pressure distributor 81 can be inserted with its fastening sections 181 into a fastening section 146, for example in the form of a circumferential groove, of the coupling device 140.The pressure manifold 180 has a passage 184. This passage 184 provides access to the receiving space 51 which is surrounded by the supporting device 50. In the assembled state, production medium supply lines, for example hoses or cables, can therefore be introduced through the feedthrough 184 into the receiving space 51. These supply lines can then be led out at the other end of the feed device 30 through the passage 49 of the coupling device 40 and fed to the tool 14.FIG. 1 illustrates that the feeding device 30 can be connected to the industrial robot 10 in the region of the end piece 31. For this purpose, the support device 20 shown in FIG. 15 can be used.The support device 20 has a holder 23 to which the clamp 25 is fastened. As described above, the coupler 145 can be fastened to the bracket 25.FIG. 15 illustrates that a support device 20 may be configured to include one or more struts 21, 22 to which the bracket 23 may be attached. The guide 24 can be fastened to one of the struts 21, 22, wherein the guide 24 can be mounted at different positions in the direction of the longitudinal extent of the strut 21, 22. The structure of the guide 24 will be explained in more detail later.FIG. 15 also shows that the holder 23 can be connected to a coupling of a compressed air supply 26. Compressed air can be supplied via the compressed air supply 26. Following the coupling, a supply line can be led to the connecting piece 170.With reference to FIGS. 13 and 14, the structure of the guide 24 will be explained in more detail. As FIG. 13 illustrates, the guide 24 may include a bearing support 210 on which a bearing 212 is supported. The bearing 212 has a vertical axis of rotation (in the illustration according to FIG. 14 ).A bearing piece 230 can be fastened to the bearing 212, for example. The bearing piece 230 has a plate 231. The plate 231 has screw receptacles through which fastening screws are passed and screwed into threaded receptacles 213 of the bearing 212. The bearing piece 230 has two bearing receptacles 232 which are arranged at a distance from one another and which can be provided, for example, on webs 234 which are bent away from the plate 231.FIG. 13 further illustrates that two stops 233 arranged at a distance from one another can be arranged on the bearing piece 230.A bearing part 240 can be pivotably connected to the bearing piece 230. For this purpose, it can be provided, for example, that the bearing part 240 has a bearing bore 242. The bearing bore 242 is in alignment with the bearing receptacles 232. Bearing sleeves 244 can be inserted into the bearing bore 242 at the end. Subsequently, a bearing bolt 243 can be pushed through the bearing sleeves 244 and the bearing receptacles 232 aligned therewith in order to connect the bearing part 240 pivotably to the bearing piece 32. The pivot axis is formed by the central longitudinal axis of the bearing bolt 243.On opposite sides, the bearing part 42 has stop surfaces 245. These cooperate with the stops 233, so that the pivoting movement of the bearing part 240 relative to the bearing piece 230 is limited.FIG. 13 shows that the bearing part 240 has a fastening section 241 for a holder 250. The holder 52 can thereby form the guide 24 which is illustrated in FIG. 1.The holder 52 has a lower part 251 and an upper part 252 which are designed in the form of half shells. In the open state, the feed device 30 can be inserted into the lower part 251 in the region of its protective jacket 80. The upper part 252 can then be placed on and connected to the lower part 251, resulting in a tube guide 253 in which the feed device 30 is then accommodated, as shown in FIG. 1.The dimensioning of the hose guide 253 is selected such that the inner cross section of the hose guide 253 is larger than the outer cross section of the protective jacket 80 in order to be able to displace the feed device 30 in the longitudinal direction of the hoses 90 in the hose guide 253.If the tool 14 performs movements during the machining operation, the feed device 30 can be tracked or reset in the region of its protective jacket 80 by the hose guide 253. Furthermore, the pivot mounting of the bearing part 240 and / or the pivot mounting, which is realized by means of the bearing 212, makes it possible to compensate for an angular offset of the energy supply, caused by the movement of the tool 14, without the energy supply being kinked in the region between the two end pieces 31, 32. For this purpose, the bearing axes of the bearing part 240 and of the bearing 212 are preferably oriented perpendicular to one another.As shown in FIG. 15, the holder 250 can be connected to the support device 20. For this purpose, a fixing plate 220 is inserted. This fastening plate 220 can be connected, for example screwed, to the bearing carrier 210 (threaded receptacles 211 and 223). The fastening plate 220 has an aperture 221 in which the bearing piece 230 is rotatably accommodated.The fastening plate 220 also has screw receptacles 222. With these screw receptacles 222, the holder 250 can be fastened to the struts 21, 22. For this purpose, the struts 21, 22 have grooves which run in the longitudinal direction of the struts 21, 22. Using a slot nut, the fastening plate 220 can thus be positioned on the struts 21, 22 in any desired mounting position in the longitudinal direction of the struts 21, 22, resulting in a suitable shape of the length compensation region 33.As mentioned above, the fixture 60 includes strain reliefs 64 for connecting the tubes 90 to the fixture 60. FIG. 8D shows that the strain reliefs 64 can be formed by apertures at the longitudinal ends of the stiffening element receptacles 61. In order to connect these strain reliefs 64 to the hoses 90, the closure pieces 100, 160 are used. For connection, the closure pieces 100, 160 are simply pushed through the strain reliefs 64 designed as apertures.

Claims

Feed device (30), in particular for an industrial robot (10), having a limp holding device (60) which accommodates limp hoses (90), wherein the hoses (90) can be filled or filled with a pressure medium, wherein the holding device (60) surrounds an accommodation space (51) and wherein supply lines running in the accommodation space (51) in the longitudinal direction of the hoses (90) can be accommodated, characterized in that the accommodation space (51) is formed at least in regions by a supporting device (50) which has a higher rigidity than the holding device (60), wherein the supporting device (50) holds the holding device (60) in the form such that it can no longer move in an uncontrolled manner into the accommodation space (51).Feed device according to claim 1, characterised in that the support device (50) is at least regionally tubular, preferably formed at least in a partial region by a corrugated tube or a corrugated tube.Feeding device according to claim 1 or 2, characterised in that the holding device (60) forms a jacket which is arranged around the supporting device (50) and which bears against the outer side of the tubular supporting device (50).Feed device according to one of Claims 1 to 3, characterized in that the holding device has stiffening element receptacles (61) which are separated from one another, and in that in each case at least one tube (90) is received in the stiffening element receptacles (61).Feed device according to claim 4, characterised in that the stiffening element receptacles (61) are bounded by two material layers, wherein the inner material layer bears against the outer side of the support device (59) and / or the outer material layer bears against the inner side of a protective jacket (80).Feed device according to one of Claims 4 or 5, characterized in that the stiffening element receptacles (61) are arranged one next to the other in the circumferential direction of the supporting device (50) and are delimited from one another by means of a separating region (63) which runs in the longitudinal direction of the tube (90) accommodated in the stiffening element receptacle (61), the separating region (63) preferably being formed by one or more seams which run in the longitudinal direction.Feed device according to one of Claims 4 to 6, characterized in that the holding device (60) has, at at least one longitudinal end of at least one stiffening element receptacle (61), in particular an integrally formed strain relief (64) which is connected indirectly or directly to the longitudinal end of the tube (90) which is accommodated in the stiffening element receptacle (61), it being preferably provided that the strain relief (64) is formed by at least one material tab and an aperture worked therein, in the region of which the tube end is held indirectly or directly.Feeding device according to one of claims 1 to 7, characterised in that the holding device (60) is formed by two material layers arranged one behind the other in the radial direction of the supporting device, and in that the edges (63.1, 63.2) of the material layers are connected to one another at a connecting section (63) in such a way that a tubular jacket is formed.Feeding device according to one of Claims 1 to 8, characterized in that the supporting device (60) ends with a longitudinal end in a region surrounded by a coupling device (40, 140).Feed device according to one of Claims 1 to 9, characterized in that the / a protective jacket (80) which surrounds the holding device (60) is produced as a seamlessly encircling protective jacket (80) from a textile material,Feed device according to one of Claims 1 to 10, characterized in that the / a protective jacket (80) which surrounds the holding device (60) is held at least at one of its longitudinal ends by means of a clamping device (70) on a / the coupling device (40, 140).Feed device according to one of Claims 1 to 11, characterized in that the clamping device has an inner clamping ring (71) and an outer clamping ring (72), the inner clamping ring (71) having an outer cone and the outer clamping ring (72) having an inner cone, and in that the / one protective jacket (80) is held clamped between the inner cone and the outer cone.

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