Cable guide device with a pull rope

Abstract

Cable guidance device (11) for guiding at least one supply line (13) along a robot arm (1), comprising: - a guide housing (12), - a protective hose (15) axially adjustable in the guide housing (12), which is designed for inserting a supply line (13) to be routed into the protective hose (15), and - a tension spring device (16) configured to pretension the protective hose (15) guided in the guide housing (12) into a home position, comprising a fixed bearing (32) at the front in the axial extension direction (R) of the protective hose (15) from the guide housing (12), which is configured to axially fix a front end of the tension spring device (16) to the guide housing (12), and a floating bearing (17) at the rear in the axial extension direction (R) of the protective hose (15), which is configured to guide a rear end of the tension spring device (16) axially adjustably on the guide housing (12), wherein the floating bearing (17) mounted axially adjustably in the guide housing (12) is axially fixedly connected to a section of the protective hose (15), characterized by - a pull rope (18) which is attached on one side to a connecting piece (14) and on the other side is connected to the loose bearing (17) in order to transfer a tensile force acting on the connecting piece (14) to the loose bearing (17).

Description

[0001] The invention relates to a cable guidance device for guiding at least one supply line along a robot arm, comprising a guide housing, a protective hose axially adjustable in the guide housing and designed for inserting a supply line to be guided into the protective hose, a tension spring device designed to pretension the protective hose guided in the guide housing into a home position, with a fixed bearing at the front in the axial extension direction of the protective hose from the guide housing, which is designed to axially fix a front end of the tension spring device to the guide housing, and with a floating bearing at the rear in the axial extension direction of the protective hose, which is designed to guide a rear end of the tension spring device axially adjustable on the guide housing.wherein the loose bearing, which is axially adjustable and mounted in the guide housing, is axially fixed to a section of the protective hose.

[0002] EP 3 307 496 B1 describes a cable guide device for guiding at least one supply line along a robot arm, comprising a supply line, a spring device configured to automatically return the supply line from an extended state to a retracted state by means of spring force, and comprising a front end section and a rear end section in the extension direction of the supply line, a spring device seat fixedly connected to the supply line on which the rear end section of the spring device is mounted, a counter bearing seat on which the front end section of the spring device is mounted, a fastening device configured to attach the cable guide device to a member of the robot arm, and an adjusting device supporting the counter bearing seat, which is configured toto mount the counter bearing seat movably with respect to the fastening device, wherein the adjusting device has a return mechanism designed to return the counter bearing seat from a deflected position of the counter bearing seat to a basic position of the counter bearing seat.

[0003] The object of the invention is to create a cable routing device that has a long service life, in particular in which the protective hose and / or a supply line guided in the protective hose is subject to low wear.

[0004] The task is solved by a cable guidance device for guiding at least one supply line along a robot arm, comprising: - a guide housing, - a protective hose axially adjustable within the guide housing, designed for inserting a supply line into the protective hose, and - a tension spring device configured to pre-tension the protective hose guided in the guide housing into a home position, comprising a fixed bearing at the front of the guide housing in the axial extension direction of the protective hose, which is configured to axially fix a front end of the tension spring device to the guide housing, and a floating bearing at the rear of the guide housing in the axial extension direction of the protective hose, which is configured to guide a rear end of the tension spring device axially adjustably on the guide housing, wherein the floating bearing, which is axially adjustably mounted in the guide housing, is axially fixed to a section of the protective hose, characterized by - a pull rope which is attached on one side to a connecting piece and on the other side is connected to the loose bearing in order to transfer a tensile force acting on the connecting piece to the loose bearing.

[0005] A supply line is understood to mean, in particular, a power line and / or a power supply, which may include lines such as electrical cables, cold and / or hot water lines, fluid lines, and / or pressure lines, leading to a tool that is flanged to a robot arm. The supply line, in particular the power line and / or the power supply, may be in individual strands or bundled together. In its installation position, the supply line is routed within the protective conduit of the cable management device.

[0006] The cable guide is designed to guide a supply cable inserted within it along a section of a robot arm, over at least one adjustable joint of the robot arm. In a common embodiment, the guide housing of the cable guide is attached to a base arm of a boom section of the robot arm.A front section of protective hose is extendable and retractable from an outlet of the guide housing that points towards the mounting flange, so that the foremost end of the protective hose, on which a connector is arranged, can be connected to another part of the robot arm located in front of the base arm of the boom, in particular a tool flange or to the tool itself, whereby, due to the extendable and retractable mounting of the protective hose and thus the supply line, the protective hose and the supply line can be guided along the robot arm as close to the contour as possible, in particular without the protective hose and the supply line sagging, flapping or being overstretched.

[0007] The removal of the protective hose or supply line from the guide housing can be achieved by a force acting on the connector, which is introduced into the connector by the automatic movement of the robot arm links, in particular the tool flange of the robot arm. The connector can, for example, be connected to the corresponding robot arm link, in particular the tool flange, via a holder that supports the connector.

[0008] Retracting or pulling back an extended section of the protective hose or supply line into the guide housing can be done by means of a tension spring device of the cable guide.

[0009] The tension spring device can operate either actively or passively. In the case of passive retraction of an extended section of the supply line, the spring device can, for example, have a coiled spring that is relaxed, or at least nearly relaxed, when the supply line is retracted and is under spring tension when extended. This ensures that when an external tensile force on the supply line at the connector is removed, the coiled spring relaxes and moves the extended section of the supply line back into the guide housing.

[0010] The guide housing can be designed as a box-like or tubular closed housing. Alternatively, the guide housing can be open and thus consist solely of a base support designed for attachment to a segment of the robot arm, with the base support only accommodating a front fixed bearing and, at a distance therefrom, a guide for the rear floating bearing.

[0011] If the tension spring device includes a coil spring, this can be guided on the (open) guide housing or within the (closed) guide housing. The coil spring can coaxially surround the protective hose. In this respect, the coil spring can be positioned in an annular space between the outer wall of the protective hose and an inner wall of the guide housing.

[0012] The front end of the spring coil (in the extension direction) can be supported against the fixed bearing or connected to it. The rear end of the spring coil (in the extension direction) can be supported against the floating bearing or connected to it.

[0013] When a tensile force is applied to the connector, the protective conduit and the supply line within it are pulled out of the guide housing. This causes the floating bearing, which is connected to the protective conduit, to move axially forward in the extension direction, compressing the spring coil and storing spring force within it. If the tensile force on the connector is then removed, or at least reduced to a value less than the spring force, the spring coil relaxes and moves the floating bearing backward in the opposite direction of extension, thus retracting the extended section of the protective conduit or supply line back into the guide housing.

[0014] The end of the protective hose extending from the guide housing, at the front end, may have a connector. The connector is attached to the protective hose.

[0015] According to the invention, the cable guidance device includes a pull cable that is attached to the connector on one side and connected to the floating bearing on the other. This allows a tensile force acting on the connector to be transmitted to the floating bearing via the pull cable, and conversely, a return force acting on the floating bearing by the tension spring device can be transmitted to the connector via the pull cable. This has the advantage that, in both directions of pull, a corresponding tensile force can be kept at least largely or even completely away from the protective conduit and the supply line routed within it. If no such tensile loads act on the protective conduit and the supply line, the service life of the cable guidance device can be extended and / or wear on the protective conduit and / or the supply line routed within it can be reduced.

[0016] The pull rope can be designed with an axial stiffness that is greater than the axial stiffness of the protective sleeve and / or a supply line inserted into the protective sleeve.

[0017] The protective hose is designed as a corrugated plastic hose. Due to its corrugated structure, this protective hose not only possesses high flexibility, meaning it can be bent or curved with minimal effort, but also high axial tensile elasticity, allowing it to be stretched axially with minimal force.

[0018] Depending on the requirements of the specific application, the supply line inserted into the protective conduit may exhibit different properties regarding its flexibility and / or axial stretchability. Generally, however, the individual supply line is configured according to the requirements of the specific application and not with regard to its load-bearing capacity in terms of axial tensile stress. Therefore, it can generally be said that any external forces acting on the supply line should at least be largely prevented or reduced as much as possible.

[0019] Therefore, depending on the requirements of the individual application, it is first necessary to determine the axial stiffness of the protective hose and the individual supply line inserted therein in the respective configuration, and then a material can be selected for the pull rope that has an axial stiffness greater than the axial stiffness of the protective hose and the individual supply line inserted therein.

[0020] For example, in the case of a protective conduit of the corrugated plastic type, and a supply line comprising electrical conductors, such as copper stranded wires encased in plastic insulation, the pull rope can be designed as a wire rope, particularly a steel cable. The pull rope can be assembled as a strand or a rope. In particular, the pull rope can be a laid rope.

[0021] The pull rope can be provided with a low-friction sheath. The sheath can be in the form of a plastic tube. A plastic sheath can be connected to the pull rope by friction and / or form-fitting. The sheath primarily serves to mechanically protect the pull rope and / or the supply line conduits surrounding the pull rope. The sheath is not designed to transmit tensile force.

[0022] The pull rope can be guided within the protective sleeve in such a way that the pull rope extends, at least in sections, essentially or exactly along the geometric central axis of the protective sleeve.

[0023] If the pull cord is routed within the protective sleeve such that it lies at least substantially or exactly along the geometric central axis of the sleeve, the pull cord runs at least substantially or exactly along the neutral axis, which does not change its length, or at least not substantially, when the protective sleeve is bent. In the case of a protective sleeve with a circular cross-section, the neutral axis passes through the geometric centroid, i.e., through the center point of each selected circular cross-section. Accordingly, the pull cord should also run at least substantially or exactly through the geometric centroid, i.e., through the center point of each selected circular cross-section.

[0024] To guide the pull cable at least substantially or precisely along the geometric central axis of the protective sleeve, a corresponding number of centering holders arranged along the inside of the protective sleeve are required if the pull cable is to extend centrally over its entire axial length and not just in sections. To avoid such additional components, the pull cable can also be guided within the protective sleeve along a line that deviates from the central axis. In the area of ​​a bend in the protective sleeve, the pull cable can then, for example, extend along a radius further inwards. In special embodiments, which are described in more detail below, several pull cables, for example two or four pull cables, can be arranged within the same protective sleeve instead of a single pull cable.This makes it possible to transmit correspondingly higher tensile forces, or the multiple pull ropes can be thinner in cross-section than in the case of a single pull rope.

[0025] One or more conductors of the supply line inserted into the protective sleeve can be arranged around the circumference of the pull rope.

[0026] In a special design, the pull rope can be pre-assembled together with the supply line and then inserted together into the protective sleeve.

[0027] The cable guidance device can have a front anchoring part configured to secure the pull rope to the connector, wherein the front anchoring part has a central section connected to the pull rope and has at least one circumferential section with which the front anchoring part is supported against an inner wall of the connector.

[0028] The connector can be a single piece or a multi-piece design. It can include a cable clamping section or component designed to clamp one or more individual conductors of a supply line strand and hold them in a predetermined axial position. The cable clamping section or component can be configured as a star-shaped clamp. It can also be manufactured as a single plastic component.

[0029] The connector can comprise a spherical section or part, which can form part of a ball joint that pivotably connects the connector or cable guide, and in particular the protective hose and the inserted supply line, to a holder about the center point of the spherical section or part. The holder can be configured to mount the cable guide, and in particular the protective hose and the inserted supply line, on a segment of the robot arm to which the cable guide is attached.

[0030] The connector can also include a cable grommet section or part, which can serve as kink protection for the protective conduit. The cable grommet section or part can be designed as a funnel-shaped tube that widens in diameter in the opposite direction of pull-out, i.e., in the manner of a trumpet, as described, for example, in DE 10 2010 029 737 A1.

[0031] The front anchoring part can be positively and / or force-fit connected to the cable clamp section or cable clamp part, the ball section or ball part, and / or the cable grommet section or cable grommet part.

[0032] The front anchoring part may in particular have a circumferential section that is positively connected to the inner wall of the connecting piece.

[0033] The cable guidance device can have a rear anchoring part configured to fix the pull rope to the loose bearing, wherein the rear anchoring part has a central section connected to the pull rope and has at least one circumferential section with which the rear anchoring part supports itself on the loose bearing.

[0034] The floating bearing is formed by a sliding ring connected to a protective sleeve. The sleeve has an outer casing wall that, together with an inner casing wall or inner guide surfaces of the guide housing, forms an axially adjustable sliding bearing. The floating bearing can be a single piece or multi-piece. In particular, the floating bearing can be formed by two bearing rings that can be connected to each other by a fastening element. The fastening element can be designed as a snap-fit ​​connection, allowing the two bearing rings to be snapped together coaxially.

[0035] A first bearing ring of the floating bearing can be connected to a protective sleeve section located at the front in the extension direction, and a second bearing ring can be connected to a protective sleeve section located at the rear in the extension direction. Accordingly, the protective sleeve can, for example, be designed in two parts, with the two protective sleeve sections being connected to each other by the bearing rings of the floating bearing. The first bearing ring of the floating bearing can thus form a front seating section connected to the front protective sleeve section, and the second bearing ring of the floating bearing can form a rear seating section connected to the rear protective sleeve section.

[0036] The first and second bearing rings of the floating bearing can be designed such that the rear end of the front protective sleeve and the front end of the rear protective sleeve are not directly connected, but are connected by the first and second bearing rings in such a way that a gap is maintained between the rear end of the front protective sleeve and the front end of the rear protective sleeve. This creates an exposed inner wall section of the two-part floating bearing, radially inside the connection area between the front and rear protective sleeves. The rear anchoring element can be supported by or positively connected to this exposed inner wall section or a central section of the floating bearing.In this version, the rear anchoring part is therefore not directly connected to the front protective hose piece or to the rear protective hose piece, but directly to the first bearing ring or the second bearing ring of the floating bearing.

[0037] Alternatively or in addition to a front anchoring part with a positively locking circumferential section, the rear anchoring part can also have a circumferential section that is positively locked to the loose bearing.

[0038] The front anchoring part can have at least two radially extending spoke sections which are connected radially inside to the central section of the front anchoring part, and each spoke section can carry its own circumferential section radially outside.

[0039] Alternatively or additionally, the rear anchoring part can also have at least two radially extending spoke sections which are connected radially inside to the central section of the rear anchoring part and each spoke section can carry its own circumferential section radially outside.

[0040] The front anchoring part and the rear anchoring part can be identically constructed to reduce the component variety of the cable routing device.

[0041] The respective anchoring component can have a central section designed as a hub. This hub is firmly connected to the pull rope. For example, the hub can have a central hole through which a section of the pull rope is passed, and the leading end of the pull rope (in the pull-out direction) is connected to a nipple with an increased diameter, which rests against the end face of the hub of the central section of the anchoring component.

[0042] From the central section or hub, for example, two radially extending spoke sections can extend outwards in diametrically opposite directions. The two spoke sections can therefore lie in a common plane. Generally, the number of spoke sections can vary. However, the clear cross-section within the protective conduit, in which the supply lines are routed, decreases with an increasing number of spoke sections. Therefore, to maintain the largest possible clear cross-section for the supply lines, it is advisable to use only two opposing spoke sections.

[0043] Each spoke segment carries its own circumferential section on its radial outer side. This circumferential section can be anchor-shaped. This means that the spoke segment is designed like an anchor shaft, from whose distal end two anchor arms extend. Each anchor arm can be arc-shaped and, in particular, its curvature can be adapted to the inner diameter of the protective sleeve, the connector, and / or the floating bearing.

[0044] The loose bearing can have a front seat section to which a rear end face of a front protective hose section is attached in the direction of extension, and the loose bearing can have a rear seat section to which a front end face of a rear protective hose section is attached in the direction of extension, wherein the loose bearing has a central section formed between the front seat section and the rear seat section, against which the rear anchoring part is directly supported.

[0045] The front seat section can, for example, be formed on a first bearing ring of the floating bearing, as already described above.

[0046] The rear seat section can, for example, be formed on a second bearing ring of the loose bearing, as already described above.

[0047] The front anchoring part and / or the rear anchoring part can be made of a metallic material, in particular steel.

[0048] If the front anchoring element and / or the rear anchoring element are made of a metallic material, particularly steel, a high stiffness of the anchoring element can be ensured. High stiffness is particularly advantageous because the spoke sections should be designed to be as stiff as possible against bending, so that an axial tensile force acting on the central section, especially the hub, does not cause any axial displacement of the central section or the hub relative to the circumferential sections, especially the anchor arms of the anchoring element.

[0049] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Individual features or combinations of features of these exemplary embodiments may, regardless of the specific context in which they are mentioned, and optionally also individually or in further combinations, represent advantageous features of alternative embodiments of the invention.

[0050] They show: Fig. 1. A perspective view of a robot arm with a cable guide device that has an extendable supply line. Fig. 2 a sectional view through an exemplary cable guidance device with an extendable connector and a tension spring device arranged in the guide housing of the cable guidance device, Fig. 3 a perspective partial view of a cable guidance device according to the invention in the area of ​​a front protective hose section with a pull rope and a front anchoring part which connects the pull rope to the connecting piece, Fig. 4 a perspective partial view of the cable guidance device according to the invention in the area of ​​a rear protective hose section with the pull rope and a rear anchoring part which connects the pull rope to a loose bearing, Fig. 5 a perspective view of an anchoring element, optionally designed as a front anchoring element or a rear anchoring element, which is connected to the pull rope, Fig. 6 a perspective view of a modified embodiment of a cable guidance device in the area of ​​the front protective hose section with a two-part anchoring part for two pull cables, and Fig. 7 a perspective view of a further embodiment of a cable guidance device in the area of ​​the front protective hose section with a two-part anchoring part for four pull cables.

[0051] The Fig. Figure 1 shows a robot arm 1 with several segments L1-L7 arranged in series and connected by joints A1-A6. The segments L1-L7 are, in particular, a base frame 2 and a carousel 3 rotatably mounted relative to the base frame 2 about the vertical axis A1. Further segments of the robot arm 1 are a rocker arm 4, a base arm 5, a forearm 7, a hand segment 8, and a flange segment 10. The flange segment 10 forms a mounting device, for example, for attaching a tool. The rocker arm 4 is pivotably mounted at its lower end, e.g., on a rocker arm bearing head (not shown), on the carousel 4 about a preferably horizontal axis of rotation A2. At the upper end of the rocker arm 5, the base arm 5 is pivotably mounted about another preferably horizontal axis A3.

[0052] A cable guide 11 is attached to the base arm 5, which has a guide housing 12 in which a section of a supply line 13 is guided. A free section of the supply line 13 is guided outside along the robot arm 1. A distal end of the supply line 13 is connected by means of a connector 14 ( Fig. 2) for example at the end member L7 ( Fig. 1), i.e. fixed to the flange member 10.

[0053] The supply line 13 of the robot arm 1 is routed along at least two of the several links L1-L7 of the robot arm 1 over at least one of the several joints A1-A6 and is located outside the robot arm 1.

[0054] The Fig. Figure 2 shows the cable guide device 11 in a standalone position.

[0055] The cable guide device 11 has the guide housing 12 and includes a protective hose 15 which is axially adjustable in the guide housing 12 and which is designed for inserting a supply line 13 to be guided into the protective hose 15.

[0056] The cable guide 11 also includes a tension spring device 16, which is configured to pre-tension the protective hose 15 guided in the guide housing 12 into a home position. The tension spring device 16 has a fixed bearing 32 at the front of the guide housing 12 in the axial extension direction R of the protective hose 15, which is configured to axially fix a front end of the tension spring device 16 to the guide housing 12. It also has a floating bearing 17 at the rear of the guide housing 12 in the axial extension direction R of the protective hose 15, which is configured to guide a rear end of the tension spring device 16 axially adjustably on the guide housing 12. The floating bearing 17, which is axially adjustably mounted in the guide housing 12, is axially fixed to a section of the protective hose 15. The tension spring device 16 may include a spring coil 16a.

[0057] The connecting piece 14, which is axially fixed at the front end of the protective hose 15 in the extension direction R of the protective hose 15 from the guide housing 12, may optionally be designed to axially fix the supply line 13 to the protective hose 15 when it is inserted into the protective hose 15. Fig. 2 to Fig. 4 the supply line 13 is removed, i.e. not shown, in order to make the pull rope 18 according to the invention visible.

[0058] The pull rope 18 according to the invention is attached on one side to the connecting piece 14 and on the other side connected to the loose bearing 17 in order to transmit a tensile force F acting on the connecting piece 14 to the loose bearing 17.

[0059] The pull rope 18 is designed with an axial stiffness that is greater than the axial stiffness of the protective sleeve 15 and / or the supply line 13 inserted into the protective sleeve 15.

[0060] The arrangement of the pull rope 18 in the protective sleeve 15 and, in particular, its storage in the protective sleeve 15 is especially relevant in Fig. 3 in the area of ​​the exclusion piece 14 and in Fig. 4 is shown in more detail in the area of ​​the lot bearing 17.

[0061] The pull rope 18 is guided within the protective sleeve 15 in such a way that the pull rope 18 extends at least substantially or exactly along the geometric central axis Z of the protective sleeve 15.

[0062] The Fig. Figure 3 also shows a front anchoring part 19.1, which is designed to secure the pull rope 18 to the connecting piece 14. For this purpose, the front anchoring part 19.1 has a central section 20 connected to the pull rope 18 and at least one circumferential section 21 with which the front anchoring part 19.1 is supported against an inner wall of the connecting piece 14.

[0063] The connecting piece 14 can, as in Fig. As shown in section 3, it may be multi-part.

[0064] The connecting piece 14 can, as is also shown in Fig. Figure 3 shows a spherical section 24, which can form part of a ball joint that pivotably connects the connecting piece 14 or the cable guide 11, and in particular the protective hose 15 and the inserted supply line 13 about the center point of the spherical section 24 to a holder 25. The holder 25 can be configured to support the cable guide 11, and in particular the protective hose 15 and the inserted supply line 13, on a link L1-L7 of the robot arm 1, to which the cable guide 11 is attached.

[0065] The connecting piece 14 can, as is also shown in Fig. Figure 3 shows that the cable gland section 26 also includes a cable gland section 26, which can serve as a kink protector for the protective hose 15. The cable gland section 26 can be designed as a funnel-shaped tube, i.e., in the manner of a trumpet, which widens in diameter in the opposite direction of pull-out R, as shown in Figure 3. Fig. 3 is shown.

[0066] The Fig. Figure 4 shows the rear anchoring part 19.2, which is designed to secure the pull rope 18 to the sliding bearing 17. For this purpose, the rear anchoring part 19.2 has a central section 20 connected to the pull rope 18 and at least one circumferential section 21 with which the rear anchoring part 19.2 is supported on the sliding bearing 17.

[0067] The lot 17 can, as in Fig. As shown in Figure 4, the bearing is formed by a sliding ring connected to the protective sleeve 15, which has an outer shell wall that, together with an inner shell wall 27 of the guide housing 12, forms an axially adjustable sliding bearing. The floating bearing 17 can, in particular, be formed by two bearing rings 17.1 and 17.2, which can be connected to each other by fasteners. The fastener can be designed as a snap-fit ​​connection, so that the two bearing rings 17.1 and 17.2 can be snapped together coaxially.

[0068] The first bearing ring 17.1 of the floating bearing 17 can be connected to a protective sleeve section 15.1 located at the front in the extension direction R, and the second bearing ring 17.2 can be connected to a protective sleeve section 15.2 located at the rear in the extension direction R. Accordingly, the protective sleeve 15 can, for example, be designed in two parts, with the two protective sleeve sections 15.1 and 15.2 being connected to each other by the bearing rings 17.1 and 17.2 of the floating bearing 17. The first bearing ring 17.1 of the floating bearing 17 can thus form a front seat section 28.1, which is connected to the front protective sleeve section 15.1, and the second bearing ring 17.2 of the floating bearing 17 can thus form a rear seat section 28.2, which is connected to the rear protective sleeve section 15.2.

[0069] The first bearing ring 17.1 of the floating bearing 17 and the second bearing ring 17.2 of the floating bearing 17 can be designed such that the rear end face of the front protective hose section 15.1 and the front end face of the rear protective hose section 15.2 are not directly connected to each other, but are connected to each other by the first bearing ring 17.1 and the second bearing ring 17.2 in such a way that a distance is maintained between the rear end face of the front protective hose section 15.1 and the front end face of the rear protective hose section 15.2, whereby an inner wall section 29 (central section 33) of the two-part floating bearing 17 is exposed radially inside the connection area of ​​the front protective hose section 15.1 and the rear protective hose section 15.2. The rear anchoring element 19.2 can be supported on or positively connected to this exposed inner wall section 29 of the loose bearing 17. The rear anchoring element 19.2 is in this version variant, as it is in . Fig. 4 is shown, thus not directly connected to the front protective hose piece 15.1 and also not directly connected to the rear protective hose piece 15.2, but directly to the first bearing ring 17.1 or the second bearing ring 17.2 of the floating bearing 17.

[0070] The front anchoring part 19.1, as shown in particular in Fig. Figure 5 shows at least two radially extending spoke sections 22, which are connected radially inside to the central section 20 of the front anchoring part 19.1, and each spoke section 22 carries its own circumferential section 21 radially outside. Similarly, the rear anchoring part 19.2 comprises at least two radially extending spoke sections 22, which are also connected radially inside to its central section 20 of the rear anchoring part 19.2, and each spoke section 22 also carries its own circumferential section 21 radially outside.

[0071] The respective anchoring part 19.1, 19.2 can have a central section 20 designed as a hub 20a. This hub 20a is firmly connected to the pull rope 18. For this purpose, the hub 20a can, for example, have a central hole through which a section of the pull rope 18 is passed, and the leading end of the pull rope 18 in the extension direction R can be connected to a nipple 30 with an enlarged diameter, which abuts the end face of the hub 20a of the central section 20 of the anchoring part 19.1, 19.2.

[0072] From the central section 20 or from the hub 20a, two radially extending spoke sections 22 can extend radially outwards in diametrically opposite directions, as shown. The two spoke sections 22 can therefore lie in a common alignment.

[0073] Each spoke section 22 carries its own circumferential section 21 on its radial outer side. The circumferential section 21 can be designed in an anchor-like shape, as shown. This can mean that the spoke section 22 is designed in the manner of an anchor shaft, from the distal end of which two anchor arms extend. Each anchor arm can be designed in a circular arc shape, as shown, and in particular its curvature can be adapted to the inner diameter of the protective sleeve 15, the connecting piece 14, and / or the floating bearing 17.

[0074] In the Fig. Figure 6 shows the front protective hose section with a two-part anchoring element 19.1. In a modified embodiment, two radially inwardly projecting retaining projections 23.1, 23.2 are arranged on the circumferential section 21 of the front anchoring element 19.1. A first pull rope 18.1 is attached to the first retaining projection 23.1, and a second pull rope 18.2 is attached to the second retaining projection 23.2. Each of the two retaining projections 23.1, 23.2 is arranged on one of the two semicircular circumferential sections 21.

[0075] In the Fig. Figure 7 shows the front protective hose section with a modified two-part anchoring element 19.1. In this further developed embodiment, four radially inwardly projecting retaining projections 23.1, 23.2, 23.3, 23.4 are arranged on the circumferential section 21 of the front anchoring element 19.1. A first pull rope 18.1 is attached to the first retaining projection 23.1, a second pull rope 18.2 to the second retaining projection 23.2, a third pull rope 18.3 to the third retaining projection 23.1, and a fourth pull rope 18.4 to the fourth retaining projection 23.4. The first retaining projection 23.1 and the second retaining projection 23.2 are arranged on one of the two semicircular circumferential sections 21. The third retaining projection 23.3 and the fourth retaining projection 23.2 are arranged on the other semicircular circumferential section 21.

[0076] In Fig. 6 and Fig.Figure 7 shows the semicircular circumferential sections 21 with the retaining projections 23.1, 23.2, 23.3, 23.4 in conjunction with the axially front protective hose section, i.e., at the fixed bearing 25. Correspondingly identical semicircular circumferential sections 21 with retaining projections 23.1, 23.2, 23.3, 23.4 can also be provided on the rear protective hose section, i.e., at the rear floating bearing 17.

[0077] The pull rope 18 can be provided with a low-friction coating 31. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] EP 3 307 496 B1

[0002] DE 10 2010 029 737 A1

[0030]

Claims

[1] Cable guidance device (11) for guiding at least one supply line (13) along a robot arm (1), comprising: - a guide housing (12), - a protective hose (15) axially adjustable in the guide housing (12), which is designed for inserting a supply line (13) to be routed into the protective hose (15), and - a tension spring device (16) configured to pretension the protective hose (15) guided in the guide housing (12) into a home position, with a fixed bearing (32) at the front in the axial extension direction (R) of the protective hose (15) from the guide housing (12), which is configured to axially fix a front end of the tension spring device (16) to the guide housing (12), and with a floating bearing (17) at the rear in the axial extension direction (R) of the protective hose (15), which is configured to guide a rear end of the tension spring device (16) axially adjustably on the guide housing (12), wherein the floating bearing (17) mounted axially adjustably in the guide housing (12) is axially fixedly connected to a section of the protective hose (15), characterized by - a pull rope (18) which is attached on one side to a connecting piece (14) and on the other side is connected to the loose bearing (17) in order to transfer a tensile force acting on the connecting piece (14) to the loose bearing (17). [2] Cable guide device (11) according to claim 1, characterized by , that the pull rope (18) is designed with an axial stiffness that is greater than the axial stiffness of the protective sleeve (15) and / or a supply line (13) inserted into the protective sleeve (15). [3] Cable guide device (11) according to claim 1 or 2, characterized by , that the pull rope (18) is guided within the protective sleeve (15) in such a way that the pull rope (18) extends at least section by section substantially or exactly along the geometric central axis (Z) of the protective sleeve (15). [4] Cable routing device (11) according to one of claims 1 to 3, characterized bya front anchoring part (19.1) designed to secure the pull rope (18) to the connecting piece (14) and / or a rear anchoring part (19.2) designed to secure the pull rope (18) to the loose bearing (17). [5] Cable routing device (11) according to claim 4, characterized by , that the front anchoring part (19.1) has a central section (20) connected to the pull rope (18) and has at least one circumferential section (21) with which the front anchoring part (19.1) is supported against an inner wall of the connecting piece (14). [6] Cable guide device (11) according to claim 5, characterized by , that the front anchoring part (19.1) has at least two radially extending spoke sections (22) which are connected radially inside to the central section (20) of the front anchoring part (19.1) and each spoke section (22) carries its own circumferential section (21) radially outside. [7] Cable guide device (11) according to claim 4, characterized by , that the rear anchoring part (19.2) has a central section (20) connected to the pull rope (18) and has at least one circumferential section (21) with which the rear anchoring part (19.2) is supported on the loose bearing (17). [8] Cable guide device (11) according to claim 7, characterized by , that the rear anchoring part (19.2) has at least two radially extending spoke sections (22) which are connected radially inside to the central section (20) of the rear anchoring part (19.2) and each spoke section (22) carries its own circumferential section (21) radially outside. [9] Cable guide device (11) according to one of claims 4 to 8, characterized by , that the front anchoring part (19.1) has a circumferential section (21) which is positively connected to the inner wall of the connecting piece (14). [10] Cable guide device (11) according to claim 9, characterized by , that at least one radially inwardly projecting retaining projection (23.1, 23.2, 23.3, 23.4) is arranged on the circumferential section (21) of the front anchoring part (19.1) to which the pull rope (18) is fixed. [11] Cable routing device (11) according to claim 10, characterized by , that on the circumferential section (21) of the front anchoring part (19.1) two or four radially inwardly projecting retaining projections (23.1, 23.2, 23.3, 23.4) are arranged for the respective fixing of a first pull rope (18.1), a second pull rope (18.2), a third pull rope (18.3), and / or a fourth pull rope (18.4). [12] Cable guide device (11) according to claim 11, characterized by , that the front anchoring part (19.1) is formed in two parts with two semicircular circumferential sections (21). [13] Cable guide device (11) according to one of claims 4 to 12, characterized by , that the rear anchoring part (19.2) has a circumferential section (21) which is positively connected to the loose bearing (17). [14] Cable guide device (11) according to claim 13, characterized by , that at least one radially inwardly projecting retaining projection (23.1, 23.2, 23.3, 23.4) is arranged on the circumferential section (21) of the rear anchoring part (19.2), to which the pull rope (18) is fixed. [15] Cable guide device (11) according to claim 14, characterized by , that on the circumferential section (21) of the rear anchoring part (19.2) two or four radially inwardly projecting retaining projections (23.1, 23.2, 23.3, 23.4) are arranged for the respective fixing of a first pull rope (18.1), a second pull rope (18.2), a third pull rope (18.3), and / or a fourth pull rope (18.4). [16] Cable guide device (11) according to claim 15, characterized by, that the rear anchoring part (19.2) is formed in two parts with two semicircular circumferential sections (21). [17] Cable guide device (11) according to any one of claims 1 to 16, characterized by , that the loose bearing (17) has a front seat section (28.1) to which a rear end face of a front protective hose section (15.1) is attached in the direction of extension (R) and a rear seat section (28.2) to which a front end face of a rear protective hose section (15.2) is attached in the direction of extension (R), and the loose bearing (17) has a central section (33) formed between the front seat section (28.1) and the rear seat section (28.2) on which the rear anchoring part (19.2) is directly supported. [18] Cable guide device (11) according to any one of claims 1 to 17, characterized by, that the front anchoring part (19.1) and / or the rear anchoring part (19.2) are made of a metallic material, in particular steel. [19] Cable guide device (11) according to any one of claims 1 to 18, characterized by , that the pull rope (18) is provided with a low-friction coating (31).

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