STORAGE DEVICE AND ROBOT ARM

Description

[0001] The invention relates to a storage device for a cable guide device of a robot arm, wherein the cable guide device has a receiving space in which a cable section is extended in an extension direction and mounted for mounting the cable guide device on the robot arm. The invention further relates to a robot arm with a cable guide device and such a storage device.

[0002] DE 10 2012 020 172 A1 describes a fastening device for a cable guide device, which has a receiving space in which a cable section is mounted so as to be extendable in an extension direction, for mounting the cable guide device on a robot arm with several links and joints adjusting the links relative to each other, comprising a first connecting body designed for rigidly connecting the first connecting body of the fastening device to a cable guide device, a second connecting body designed for rigidly connecting the second connecting body of the fastening device to a link of a robot arm, and a joint designed to mount the second connecting body movably relative to the first connecting body in two different degrees of rotational freedom, each oriented perpendicular to the extension direction.

[0003] EP 3 781 371 B1 describes a fastening device for a cable guide device, which has a receiving space in which a cable section is mounted so as to be extendable in an extension direction, for mounting the cable guide device on a robot arm with several links and joints adjusting the links relative to each other, comprising a first connecting body designed for rigidly connecting the first connecting body of the fastening device to a cable guide device, as well as a second connecting body designed for rigidly connecting the second connecting body of the fastening device to a link of a robot arm, and a joint designed to mount the second connecting body movably relative to the first connecting body in two different degrees of rotational freedom, each oriented perpendicular to the extension direction.

[0004] The object of the invention is to create a bearing device for a cable guide device of a robot arm, which enables improved, in particular wear-reducing, pulling out and retracting of an energy supply cable from a receiving space of the cable guide device during operation on a robot arm, when the cable guide device is attached to a link of the robot arm by means of the bearing device.

[0005] The problem is solved by a storage device for a cable guide device of a robot arm, wherein the cable guide device has a receiving space in which a cable section is mounted so as to be extendable in an extension direction, for mounting the cable guide device on the robot arm, comprising: a first connecting body designed for rigidly connecting the first connecting body of the bearing device to a cable guide device, a second connecting body designed for rigidly connecting the second connecting body of the bearing device to a link of a robot arm, and a bearing arrangement designed to guide the first connecting body rotatably relative to the second connecting body in a first degree of rotational freedom oriented perpendicular to the extension direction and to support it in a second degree of rotational freedom oriented perpendicular to both the extension direction and the first degree of rotational freedom depending on the movement of the first connecting body about the first degree of rotational freedom.

[0006] The mounting device serves to attach or support a complete cable management system to a segment of a robot arm. For example, in the case of an industrial robot of the kick-arm type with six degrees of freedom, i.e., with a total of six joints, the cable management system can be attached or supported to a base arm of a boom section of the robot arm. The robot arm can, for example, have a base frame as a first segment, to which a carousel, as a subsequent second segment, is rotatably mounted about a vertical axis and driven by a first drive motor. A rocker arm, as a third segment, can be pivotally mounted on the carousel about a second horizontal axis and driven by a second drive motor.The jib supports, as its fourth link, a base arm of the boom, which is pivotally mounted around a third horizontal axis and driven by a third drive motor. A fourth axis is provided on the boom, running longitudinally along its length, and drives a forearm, the fifth link, via a fourth drive motor. A robot hand is pivotally mounted on the forearm around a fifth axis, allowing it to pivot by a fifth drive motor. Additionally, the robot hand has a sixth axis to drive a mounting flange, forming the final, seventh link of the robot arm, by means of a sixth drive motor.

[0007] The cable guide serves to compensate for length variations, allowing a supply cable to be guided as close as possible to the contours of the robot arm's segments and joints during movement. The cable guide generally has a receiving chamber in which a section of the supply cable is stored. Depending on the movement of the robot arm, and thus on the movement of a free end section of the supply cable (particularly one attached to a flange of the robot arm), the cable section stored in the receiving chamber is either pulled out or retracted. The supply cable may be spring-loaded within the receiving chamber of the cable guide.

[0008] 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 and / or pressure lines to tools that are flanged to the robot arm. The supply line, in particular the power line and / or the power supply, may be bundled into individual strands or cable bundles and may be sheathed with one or more flexible protective sleeves, such as corrugated hoses.

[0009] Due to the extensive freedom of movement of the robot arm flange during robot arm movement and the potentially high dynamics of the movement, the extendable cable section is subjected to high mechanical stresses. Particularly in the area where the cable section exits the cable guide housing, the cable section is sometimes dragged along the edges of the cable guide housing's exit opening, occasionally at high bending angles, if the cable guide housing and especially its housing are rigidly attached to the robot arm.

[0010] With the bearing device according to the invention, the entire cable guide can follow the extension movement of the cable section to a certain extent, thus avoiding large bending angles. Due to the bearing device according to the invention, the cable guide, and therefore also the receiving space, can automatically follow the movement of the cable section, since the cable guide aligns itself in the direction of pull due to the tensile force on the cable section, thereby reducing the bending angles.By designing the bearing arrangement to guide the first connecting body rotatably relative to the second connecting body in a first degree of freedom oriented perpendicular to the extension direction, and to support it in a second degree of freedom oriented perpendicular to both the extension direction and the first degree of freedom, depending on the movement of the first connecting body around the first degree of freedom, the cable guide can follow the extended cable section particularly well. This further reduces the bending angles of the cable section in the exit area of ​​the cable guide and can thus further help to reduce wear on the supply line and increase the service life of the entire cable guide.

[0011] Furthermore, a shorter extension length is required if the orientation of the cable guide can follow the current extension direction of the cable section. Starting from the pivot point of the cable guide, which can be located, for example, in the area of ​​a spherical bearing of the support device, the cable section no longer needs to follow a bend in the area of ​​the outlet opening of the receiving space, but can be guided in a straight line. This results in a shorter required extension length when the cable guide is rotated in the current extension direction. This also reduces the load on the spring mechanism required to retract the extended cable section back into the receiving space.

[0012] Therefore, the restoring force in the spring mechanism can decrease overall.

[0013] The bearing arrangement primarily serves to hold the complete cable guide assembly on a selected segment of the robot arm, so that the cable guide assembly is supported by this segment. Consequently, in its mounted state on the robot arm, the cable guide assembly moves with the segment of the robot arm to which it is attached by means of the bearing arrangement. Furthermore, the bearing arrangement allows the cable guide assembly to move relative to the segment of the robot arm to which it is attached.The first degree of freedom is a free degree of freedom, allowing the cable guide to move relative to the robot arm segment to which it is attached by means of the bearing arrangement, due to external forces acting on it, particularly on the receiving space. Simultaneously, the bearing arrangement has a second degree of freedom, which is constrained by the movement of the cable guide around the first degree of freedom. This means that the cable guide cannot rotate freely around the second degree of freedom; rather, its rotation around the second degree of freedom is directly dependent on its rotational position around the first degree of freedom.

[0014] Since the cable guide, when attached to a segment of the robot arm by means of the bearing device according to the invention, moves with the robot arm in space, it is advantageous to define the first, second, and third degrees of rotational freedom relative to the cable guide, or in particular to the extension direction of the cable section of the cable guide. Accordingly, a corresponding coordinate system can have its origin at the bearing device according to the invention. Preferably, the origin of the coordinate system can then be fixed with respect to the first connecting body of the bearing device. Alternatively, another coordinate system can be defined, the origin of which can be fixed with respect to the second connecting body of the bearing device. Then the coordinate system would also be fixed with respect to a segment of the robot arm to which the bearing device is attached.

[0015] The Cartesian coordinate system has three axes aligned orthogonally to each other, corresponding to the three axes of rotation of the degrees of freedom, with one axis aligned in the extension direction of the cable section. The extension direction is determined by the direction in which the cable section is pulled out of the receiving space of the cable guide device in the area of ​​the exit opening, due to the design.

[0016] The first degree of rotational freedom is therefore oriented perpendicular to the extension direction. Using the example of a cable guide attached to the base arm of a robot arm, in a basic position of the robot arm (e.g., adjustment position with an axis position of -90 degrees at the second joint and +90 degrees at the third joint of the robot arm), in which the base arm of the robot arm is exactly horizontally aligned, the first degree of rotational freedom can be designated in the Cartesian coordinate system as the vertically oriented Z-axis. This Z-axis is therefore aligned in the direction of gravity. It can also be referred to as the yaw axis. The second degree of rotational freedom can therefore be formed by an axis oriented perpendicular to both the first degree of rotational freedom (Z-axis, yaw axis) and the extension direction, which is designated in the Cartesian coordinate system as a horizontally oriented Y-axis.This Y-axis can also be called the pitch axis. The remaining third rotational degree of freedom is accordingly oriented in the direction of extension, i.e., the third rotational degree of freedom extends in the direction of extension. This third rotational degree of freedom can be referred to as a horizontally oriented X-axis in the Cartesian coordinate system. This X-axis can also be called the roll axis.

[0017] In such a typical configuration, the free, rotatable guidance of the first degree of freedom allows the cable guide to pivot freely laterally around the Z-axis (yaw axis), depending on where the extendable cable section is guided from the hand flange during movement of the robot arm. Due to the constrained guidance of the second degree of freedom, a fixed tilting or pitching movement of the cable guide around the Y-axis (pitch axis) occurs, depending on the pivot position of the cable guide around the Z-axis. A change in the roll tendency around the X-axis would have no significant functional effect on the extension of the cable section from the receiving space in this case, since the X-axis runs precisely in the extension direction and would therefore, at most, cause torsion of the cable section.On the other hand, a forced adjustment around the X-axis can be quite useful in other scenarios, for example, precisely when unwanted torsions occurring in the line section need to be compensated. In such an application, the third rotational degree of freedom can also be interchanged with the second. In one variant, either only the second rotational degree of freedom or only the third rotational degree of freedom can be forced in relation to the first rotational degree of freedom. In a second variant, both the second and third rotational degrees of freedom can be forced in relation to the first rotational degree of freedom simultaneously.

[0018] In an assembly of cable guidance device, storage device according to the invention and robot arm, the first connecting body defines the unique position and the respective orientation of the cable guidance device.

[0019] The second connecting body defines, in an assembly of cable guidance device, storage device according to the invention and robot arm, the unique position and the respective orientation of the cable guidance device together with the storage device with respect to the link of the robot arm to which the cable guidance device is attached.

[0020] The bearing arrangement can generally be designed to rigidly support the second connecting body relative to the first connecting body in all three shear degrees of freedom. The three shear degrees of freedom generally represent translational movement in the X, Y, and Z directions in the case of a Cartesian coordinate system. Accordingly, movement in the X, Y, and Z directions would be prevented here, i.e., not possible.

[0021] A fixed mounting of the second connection body relative to the first connection body in all three linear degrees of freedom means that the cable guide cannot be linearly displaced relative to the robot arm segment on which it is mounted, even when the cable section is extended or retracted. In the Cartesian coordinate system, this fixed mounting of the second connection body relative to the first connection body in all three linear degrees of freedom means that when the cable guide is mounted to a robot arm segment by means of the mounting device, it cannot be linearly displaced in the X, Y, or Z directions. Accordingly, the cable guide can only perform rotations up to a maximum of three rotational degrees of freedom.

[0022] The bearing arrangement can also be generally designed to support the first connecting body relative to the second connecting body in a third rotational degree of freedom that rotates around the extension direction, depending on the movement of the first connecting body around the first rotational degree of freedom. This corresponds to the variant already described, in which both the second and third rotational degrees of freedom are simultaneously guided depending on the first rotational degree of freedom.

[0023] In a first basic embodiment, the bearing arrangement can be designed as a positively guided spherical rotary guide. In particular, by means of a positively guided spherical rotary guide, the positive guidance about a second degree of freedom and the positive guidance about a third degree of freedom can be determined independently of each other, each depending on the first degree of freedom.

[0024] The positively guided spherical rotary guide can feature a positive-locking positive-locking mechanism that, on the one hand, scans a guide track to achieve a positively guided corresponding rotation of the first connecting body by the second and / or third degree of freedom, depending on the current rotational position of the first connecting body by the first degree of freedom. On the other hand, this positive-locking positive-locking mechanism can also serve to achieve zero backlash, thus ensuring high running quality and / or jerk-free movement of the first connecting body and therefore of the cable guide device.

[0025] The positively guided spherical rotary guide ensures collision-free guidance of the cable management device when the robot arm, to which the cable management device is mounted by means of the bearing device, moves. The positively guided spherical rotary guide can thus execute a pivoting and / or a tilting movement, always depending on the current rotational position around the first degree of freedom. Accordingly, the cable management device can perform a superimposed yaw, pitch, and / or roll movement. The design ensures that no contact or collision occurs between the cable management device and the robot arm. Furthermore, the resulting forced movement of the cable management device can also prevent collisions with other objects, such as those located in the workspace in which the robot arm is moving.

[0026] The bearing arrangement according to the invention can be assembled from commercially available machine elements, preferably even standard parts, which enables cost-effective manufacturing and ensures reliable operation. Spherical rotary guides can, for example, be manufactured with dry lubrication, e.g., from PTFE materials or coated accordingly with PTFE materials. In this way, the spherical rotary guides can operate maintenance-free. The bearing arrangement can be manufactured in various sizes, particularly to adapt to the sizes of the robot arms, and can especially include modularly classified sizes.

[0027] The main joint can comprise a centrally located ball joint with a degree of freedom f=3. Further sub-joints, such as cylindrical rollers, with a respective degree of freedom f=4, can be arranged around this ball joint, offset from each other by 90°. These sub-joints can trace a spatially curved guide curve, i.e., the guide path. The guide curve or guide path is designed such that the cable guide device can move around the robot arm without collisions. By simultaneously tracing a complementary curve, backlash-free positive movement can be achieved. For example, the axes of rollers can intersect at the center of the ball joint. Furthermore, the axes of the rollers can be aligned in pairs. Since all axes of rotation intersect at a single point and the movement paths of the linkage points lie on concentric spherical surfaces, this is a spherical arrangement.

[0028] The technical principle is comparable to the operation of a cam drive, analogous to a plunger drive. A plunger or probe scans a spatially curved curve by friction or positive engagement. The probe can also be described as a guideway follower.

[0029] Positive locking can generally be achieved through frictional engagement, for example, spring force, or through positive engagement, such as with a grooved cam, or by simultaneously scanning a complementary cam. With positive locking, simultaneous scanning of a complementary cam can achieve backlash-free operation. This arrangement offers high running quality, is shock-free, and enables jerk-free movement.

[0030] A first pair of partial joints causes the forced running, and the other pair of partial joints causes the forced running protection.

[0031] The bearing arrangement, in particular the positively guided spherical rotary guide, can have a wobble turntable which is mounted on a frame by means of a centrally arranged spherical rotary bearing with three degrees of rotational freedom and is positively guided on its circumference on a circumferential guide connected to the frame.

[0032] The wobble turntable can have different shapes. Its essential characteristic is its rigid shape in conjunction with the centrally located spherical rotary bearing and a circumferential guide positioned at a distance from the central spherical rotary bearing. Since the centrally located spherical rotary bearing has three degrees of freedom, and the wobble turntable is only intended to rotate freely in one degree of freedom, the other two degrees of freedom must be constrained, which is achieved by the circumferential guide. The circumferential guide can initially be designed in various ways and, for example, may include at least one lever on the wobble turntable, which is constrained, for instance, in an annular groove or partial annular groove that runs around the circumference or partial circumference of the spherical rotary bearing.

[0033] The centrally located spherical rotary bearing is supported against a frame. The frame forms a support for the wobble turntable and is connected to the second connecting body. The frame supports the wobble turntable relative to a segment of the robot arm when the support device is attached to that segment of the robot arm by means of the bearing arrangement. In this case, the frame supporting the wobble turntable is rigidly connected to that segment of the robot arm.

[0034] The wobble turntable can, for example, have a cruciform shape, as will be explained in more detail later with regard to a specific embodiment. Accordingly, the wobble turntable can, for example, have four arms arranged at 90 degrees to each other, which can extend outwards, at least substantially radially, from the centrally arranged spherical rotary bearing. The positively guided bearing can be arranged at each free end of each arm.

[0035] The circumferential guide can have a guide track connected to the frame, on which at least one guide track follower moves, which is connected to the wobble turntable.

[0036] In the case of a single guideway follower, it can have a roller which engages in a circumferential groove.

[0037] In this arrangement, an upper wall of the groove can form an upper guide track which touches the roller on its upper side, and a lower wall of the groove can form a lower guide track which touches the roller on its underside, or the roller rolls on the lower guide track and cannot move upwards because the upper wall of the groove prevents upward movement of the roller.

[0038] Alternatively, the corresponding positive guidance can also be achieved by having the wobble turntable have two opposing, outward-extending arms, each equipped with a roller. Each of the two rollers runs on its own guide track. The first roller runs on a first guide track of a first contour, which determines the movement of the wobble turntable around the positively guided (second) degree of freedom. The opposite second roller runs on a second guide track of a second contour, which is a point-symmetrical mirror image of the first contour of the first guide track. By supporting the second roller on the second guide track, the first roller is prevented from lifting off the first guide track. In this way, positive guidance, for example around the second degree of freedom, is ensured.

[0039] If positive guidance is to be ensured for the third degree of freedom, this can be achieved by having the wobble turntable have two opposing, outward-extending additional arms, each equipped with an additional roller. Each of the two rollers runs on its own guide track. The third roller runs on a third guide track of a third contour, which determines the movement of the wobble turntable around the positively guided (third) degree of freedom. The fourth roller, opposite the third roller, runs on a fourth guide track of a fourth contour, which is a point-symmetrical mirror image of the third contour of the third guide track. By supporting the fourth roller on the fourth guide track, the third roller is prevented from lifting off the third guide track. If a changing positive guidance is required, i.e.,Since a forced movement around the third degree of rotational freedom is not required, both the third guide path and the fourth guide path can be planar and extend in the same plane.

[0040] The at least one guideway follower can therefore include a roller which is rotatably mounted on the wobble turntable and which rolls on the guideway.

[0041] Each guideway follower can therefore have a roller. The roller is preferably designed without a drive mechanism. The roller can also be referred to as a support roller. It can comprise a roller carrier, for example with two opposing lugs, on which a drive shaft is supported on both sides. The roller is mounted on this shaft and rotatably supported. A rolling bearing can be inserted between the drive shaft and the roller. Alternatively, the roller can be mounted in a plain bearing. The running surface of the roller forms a rolling contact with the respective guideway.

[0042] The wobble turntable can have a first guide track follower that moves on a first track section of the guide track, and the wobble turntable can have a second guide track follower arranged opposite the first guide track follower that moves on a second track section of the guide track, wherein the track profile of the first track section is complementary to the track profile of the second track section, such that backlash-free rotation of the wobble turntable about the second degree of freedom occurs when the wobble turntable rotates about the first degree of freedom.

[0043] In a special embodiment with only a first and a second guideway follower, the wobble turntable can be designed to prevent rotation through the third degree of freedom, i.e., to structurally prevent or lock it. For this purpose, the wobble turntable can have a third guideway follower moving on a third track segment of the guideway, and a fourth guideway follower arranged opposite the third, also moving on a fourth track segment. However, in this special embodiment, the third and fourth track segments are designed as planar tracks, preferably both lying in the same spatial plane, which is aligned, for example, parallel to the extension direction (X-axis) and parallel to the pitch axis (Y-axis).In other words, the flat paths of the third and fourth track sections extend at least substantially perpendicular to the yaw axis (Z-axis). Within this limited range of motion of the wobble turntable, the cable guide can therefore only perform a rotation about the yaw axis (Z-axis) and, constrained by this rotation, only a rotation about the pitch axis (Y-axis). Consequently, the cable guide remains constant with respect to a rolling motion, i.e., a rotation about the extension direction (X-axis).

[0044] Accordingly, alternatively or additionally, the wobble turntable can have a third guide track follower which moves on a third track section of the guide track, and the wobble turntable can have a fourth guide track follower arranged opposite the third guide track follower which moves on a fourth track section of the guide track, wherein the track profile of the third track section is designed to be complementary to the track profile of the fourth track section, such that backlash-free rotation of the wobble turntable about the third degree of freedom occurs when the wobble turntable rotates about the first degree of freedom.

[0045] In a variation on a locked rolling motion, i.e., a rotation about the extension direction (X-axis), as described above, the third and fourth track sections can, in another embodiment, have a path that deviates from a planar path, in particular a curved one. Such a curved path of the third and fourth track sections then results in the wobble turntable, and thus also the cable guide device, being able to perform a forced rotation about the extension direction (X-axis) when the wobble turntable rotates about the first degree of freedom.

[0046] In one variant, the wobble turntable can have a total of three guideway followers, each of which moves along one of the three guideway sections. The three guideway followers can then be arranged with their axes of rotation offset from each other by 120 degrees.

[0047] In a second variant, the wobble turntable can have a total of four guideway followers, each of which moves along one of the four guideway track sections. The four guideway followers can then be arranged with their axes of rotation offset from each other by 90 degrees.

[0048] In a third variant, the wobble turntable can have a total of five guideway followers, each of which moves along one of the five guideway sections. The five guideway followers can then be arranged with their axes of rotation offset from each other by 72 degrees.

[0049] The motion or guide paths do not need to be point-symmetrical to each other. The respective radii or distances between the partial joints—i.e., the guide path followers, the path sections or rollers, and the central main joint (ball joint)—do not need to be the same. While identical radii or distances simplify design and manufacturing, they are not mandatory. The guide paths, however, must be aligned with each other. The fundamentally spherical arrangement is also important, ensuring that all axes intersect at the center of rotation.

[0050] The guide track can have at least one detent stop designed to limit a rotational movement of the wobble turntable around the first degree of freedom to an angle of rotation of less than 90 degrees.

[0051] At least one detent stop can be formed by a concave recess in the respective guide track on which the roller runs. The concave recess can be adapted to the diameter of the roller. Alternatively, the detent stop can be formed by a projection or recess in the respective guide track that prevents further rolling of the roller by causing the roller to strike the projection or engage in the recess.

[0052] The guide rail can be attached to the frame in all versions using removable fasteners.

[0053] Due to such a detachable fastening of the guide track or guide track sections, a first guide track contoured in a first shape can be replaced by a different second guide track with a second shape that differs from the first. This allows the forced motion behavior of the wobble turntable, and consequently the forced motion behavior of the cable guide device, to be changed as needed. Such a change in motion behavior may be necessary, for example, if the robot program is changed and the robot arm therefore performs a different movement, if the tool supplied by the cable guide device and handled by the robot arm is changed, or if the robot arm is to operate in a changed working environment.

[0054] Removable fasteners can be, in particular, fasteners that can be loosened or tightened by a fitter using hand tools. Examples of removable fasteners include screws or studs in combination with nuts.

[0055] In a second basic embodiment, the bearing arrangement can be designed as a spatial linkage mechanism. In particular, a spatial linkage mechanism allows for a joint design determination of the positive guidance about a second degree of rotational freedom and the positive guidance about a third degree of rotational freedom, each depending on the first degree of rotational freedom.

[0056] The second basic embodiment of a bearing device or bearing arrangement can include a tilting frame. Functionally, the tilting frame corresponds to the wobble-type turntable according to the first basic embodiment of a bearing device or bearing arrangement. The tilting frame can optionally be formed from rigid struts or be designed as a solid body. In the case of a solid body, the tilting frame can also be a plate or a flat sheet. The tilting frame is mounted on the frame of the bearing device via the spatial coupling mechanism.

[0057] The bearing arrangement, in particular the spatial coupling mechanism, can have a tilting frame which is mounted on a frame at a first end section of the tilting frame by means of a spherical rotary bearing with three degrees of rotational freedom and is mounted on the frame at a second end section of the tilting frame opposite the first end section of the tilting frame by means of a four-way articulation joint.

[0058] The spherical pivot bearing can also be called a ball joint. The spherical pivot bearing, i.e., the ball joint, is characterized by allowing rotation in all three degrees of freedom (Cartesian coordinate system) but restricting all three degrees of linear freedom (linear X-direction, linear Y-direction, and linear Z-direction). The spherical pivot bearing can be positioned on the tilting frame such that, when the cable guide is mounted on the tilting frame, it is located at least substantially below the rear end of the receiving space for the cable guide section, relative to the extension direction.

[0059] The articulated quadrilateral can define a hinge plane that is oriented at least substantially perpendicular to the extension direction of the cable section of the cable guide from the receiving space when the cable guide is mounted on the tilting frame. The hinge plane of the articulated quadrilateral is preferably located at a mean height along the longitudinal extent of the receiving space of the cable guide. The longitudinal extent of the receiving space corresponds to the extension direction of the cable section.

[0060] The articulated quadrilateral comprises a total of four spherical pivot joints. A first spherical pivot joint connects a first coupling link to the tilting frame. A second spherical pivot joint connects the first coupling link to the frame. A third spherical pivot joint connects the tilting frame to a second coupling link. A fourth spherical pivot joint connects the second coupling link to the frame. The second and fourth spherical pivot joints are spaced apart from each other. Likewise, the first and third spherical pivot joints are spaced apart from each other. The distance between the second and fourth spherical pivot joints can be, in particular, less than the distance between the first and third spherical pivot joints.

[0061] The articulated quadrilateral can comprise a first connecting rod, at the distal end of which a first spherical pivot joint is arranged, coupling the first connecting rod to the tilting frame, and at the proximal end of which a second spherical pivot joint is arranged, coupling the first connecting rod to the frame, and the articulated quadrilateral can comprise a second connecting rod, at the distal end of which a third spherical pivot joint is arranged, coupling the second connecting rod to the tilting frame, and at the proximal end of which a fourth spherical pivot joint is arranged, coupling the second connecting rod to the frame.

[0062] The articulated quadrilateral can be specifically designed as a symmetrical double rocker arm. However, depending on the desired movement characteristics of the cable routing device, the articulated quadrilateral can also be designed as a different subtype of articulated quadrilateral. Accordingly, instead of being non-rotating, the articulated quadrilateral can be designed to be rotatable or even fully pivoting. Thus, in a variation of the symmetrical double rocker arm versions described in more detail in the exemplary embodiments, the articulated quadrilateral could alternatively be designed as a crank rocker, a central crank rocker, a double crank, a parallel crank mechanism, a counter-rotating twin crank mechanism, an equal-sided crank rocker, or an equal-sided double crank, if this is practical and technically feasible for the specific application. The same applies to the absolute dimensions of the connecting rod lengths and the distances between the bearing points.

[0063] In this embodiment, the first coupling element is formed by a first connecting rod, and the second coupling element is formed by a second connecting rod. Proximal means that the respective rod end faces the frame, i.e., is closer to the robot arm. Distal means that the respective rod end faces the tilting frame, i.e., is further away from the robot arm, i.e., closer to the cable guide. Both the first and second connecting rods are rigid. In particular, the first and second connecting rods have the same effective lengths.

[0064] The first and second spherical pivot joints of the first connecting rod, as well as the third and fourth spherical pivot joints of the second connecting rod, can be designed as rod ends. The rod ends can be designed, in particular, according to DIN ISO 12240-4. The first and second spherical pivot joints of the first connecting rod, as well as the third and fourth spherical pivot joints of the second connecting rod, thus form ball joints.

[0065] The second spherical pivot joint of the first connecting rod and the fourth spherical pivot joint of the second connecting rod can be positioned closer together on the frame than the first spherical pivot joint of the first connecting rod and the third spherical pivot joint of the second connecting rod are spaced apart on the tilting frame.

[0066] In terms of a four-bar linkage, one connecting rod can be considered the driving crank, and the other the driven rocker arm. The tilting frame forms the linkage that articulates the two connecting rods. The angle between the connecting rod and the linkage (i.e., the tilting frame) should preferably be at least 40 degrees. This angle is also referred to as the transmission angle. The quality of movement depends on the minimum transmission angle. This angle is the acute angle between the absolute path tangent and the relative path tangent at the point of force transmission between the transmission element (i.e., the connecting rod) and the output element, which is assumed to be formed by the tilting frame. Traditionally, a rocker arm or crank is used as the driving element, and the rocker arm as the output element.The permissible transmission angle should be greater than 40 degrees in this case to prevent blockages, jamming, or locking positions. This principle is equally applicable to the present bearing arrangement, even though none of the connecting rods are actively driven. In the present bearing arrangement, neither the crank nor the rocker arm constitutes a drive mechanism. For the present bearing arrangement, the hose guide device is fixed to the coupling, i.e., mounted on the tilting frame; thus, the coupling link is driven by the inherent movement of the hose assembly.

[0067] The articulated quadrilateral is therefore not rotatable, which is neither necessary nor desired.

[0068] The articulated quadrant supports the tilting frame in a central area, so that the cable management device is also supported approximately in the middle by the articulated quadrant. The spherical swivel bearing, on the other hand, is located in the area of ​​a rear end of the tilting frame or the cable management device, i.e., where the power cable of the cable management device is fed into the receiving space of the cable management device.

[0069] The spherical pivot bearing can be positioned at a distance from the outlet opening of the receiving chamber that is two to three times greater than the distance between the articulated joint and the spherical pivot bearing. This achieves a balanced ratio of bearing reactions in both the spherical pivot bearing and the articulated joint. The closer the spherical pivot bearing and the articulated joint are to each other, and the further the outlet opening is from the articulated joint, the greater the bearing forces. However, if the articulated joint is positioned very far from the spherical pivot bearing and simultaneously very close to the outlet opening, the mobility of the cable guide is reduced.If the spherical rotary bearing is arranged at a distance from the outlet opening of the receiving chamber that is two to three times greater than the distance of the articulating quadrilateral from the spherical rotary bearing, a balanced ratio of mobility to bearing loads is achieved.

[0070] The mounting device comprises a frame, which in its simplest embodiment can be formed by a flat sheet metal plate. This frame can be connected to the second connecting body or directly form the second connecting body. Both the spherical swivel bearing and the four-point linkage are arranged on the upper side of the frame. The tilting frame is rotatably and positively guided relative to the frame by means of the spherical swivel bearing and the four-point linkage, as described. The tilting frame carries the cable guide device. The tilting frame can be connected to the first connecting body or directly form the first connecting body.

[0071] In its home position, the tilting frame is aligned with its main extension plane parallel to the main extension plane of the frame. This also corresponds to the home position of the cable management device when it is mounted on the tilting frame. In a home position of the robot arm, for example, a boom arm of the robot arm is horizontally aligned. If the bearing device, and thus also the cable management device, is attached to the boom arm of the robot arm, the tilting frame also extends in a horizontal plane in its home position. Accordingly, the cable management device then also extends in a horizontal plane. This means that, in the home position, the extension direction of the cable management device is also horizontal.

[0072] If a pulling motion, triggered by a movement of the robot hand in space guiding the front end of the cable, pulls the cable section out of the receiving space at an angle to the extension direction of the cable guide, lateral forces act on the housing of the cable guide. Due to the free first degree of freedom of the mounting device, this can cause the cable guide to rotate laterally. This, in turn, due to the constrained second and / or third degrees of freedom, directly causes the tilting frame, and consequently the cable guide, to tilt downwards and / or rotate axially. This corresponds to a nodding or rolling motion of the cable guide, which is superimposed on the pivoting movement of the cable guide.

[0073] The articulated quadrilateral can have a spring device designed to hold the tilting frame in a central basic position relative to the frame when no external forces act on the bearing device.

[0074] If, through a relieving movement of the robot hand in space, which guides the front end of the cable, the cable section is pulled back into the receiving space against the extension direction of the cable guide, no lateral forces act on the housing of the cable guide, or at least only minimal lateral forces act on the housing of the cable guide. In this case, it may be desirable for the cable guide to automatically return to its initial position, i.e., its home position. This function can be achieved by the spring mechanism. The spring mechanism acts on the articulating joint to move it back to its home position. The home position of the articulating joint therefore corresponds to the home position of the tilting frame and thus to the home position of the cable guide.

[0075] The spring assembly can comprise one or more compression springs. Alternatively or additionally, the spring assembly can comprise one or more tension springs. For example, the spring assembly can consist of two individual tension springs. Each tension spring is assigned to one of the two connecting rods. The respective tension spring engages at one point on the frame of the bearing device and at another point on the tilting frame. The points where the tension spring engages the frame and the tilting frame are selected such that, when the associated connecting rod is deflected from the tilting frame's home position, it exerts a restoring moment on the tilting frame. The two tension springs can engage the tilting frame at a common point, particularly in a central area between the first spherical pivot and the third spherical pivot.

[0076] The spherical rotary bearing can include a ball head which is rotatably guided in a ball socket, such that the ball head is mounted to tilt at angles of up to 40 degrees.

[0077] The ball head of the spherical rotary bearing can have a ball stud which, in its installed position on the bearing assembly, is arranged in its home position at least substantially perpendicular to the plane of extension of the bearing assembly's frame and / or perpendicular to the plane of extension of the bearing assembly's tilting frame. In such an installed position, the axis of rotation of the ball head about the axial extension of the ball stud corresponds to the pivoting of the cable guide about the first degree of freedom, or about the Z-axis, i.e., about the yaw axis of the cable guide. This ensures maximum pivotability of the cable guide about its yaw axis. Accordingly, the second degree of freedom and, if applicable, the third degree of freedom can be limited to a maximum of 40 degrees due to the limited tilt angle of the ball head.

[0078] The first, second, third, and fourth spherical pivot joints can generally be designed as rod ends. The rod ends can be designed in particular according to DIN ISO 12240-4.

[0079] Each connecting rod can have two ball joints, with the two ball joint pins facing each other and connected by a rod or sleeve. A ring-shaped outer part is attached to or integrally formed with each ball joint pin. This ring-shaped outer part can have a seat for a bearing shell and directly incorporate a spherical inner sliding surface for the ball joint. The ball joint can be cut off at the opposite end and, for example, include a bore that forms a connection for attaching the respective ball joint to the frame or tilting mechanism. The ball joint can thus be formed by an inner ring with a spherical segment-shaped outer circumferential wall and a circular cylindrical inner circumferential wall.

[0080] The problem is also solved by a robot arm comprising several links and joints that adjust the links relative to each other, as well as a cable guidance device having a receiving space in which a cable section of an energy supply cable is mounted to be extendable in an extension direction, for guiding the energy supply cable along several of the links of the robot arm, wherein the robot arm has a bearing device, as explained according to one or more of the described embodiments, which mounts the cable guidance device, in particular a housing of the cable guidance device, in two different degrees of rotational freedom oriented perpendicular to the extension direction of the cable section of the energy supply cable, in a positively coupled manner on a link of the robot arm.

[0081] The cable guide device can have a housing; a supply line extending through the housing in its axial longitudinal extent from a rear end to a front end; and a spring device arranged inside the housing, which is designed to automatically return the supply line from an extended state to a retracted state by means of spring force; and which has a front end section in the extension direction of the supply line and a rear end section in the extension direction of the supply line; and a spring device seat fixedly connected to the supply line, on which the rear end section of the spring device is mounted; and a counter bearing seat connected to the housing, on which the front end section of the spring device is mounted.

[0082] A cable management device for guiding at least one supply line along a robot arm is generally used when supply media need to be routed across the robot arm's structure, for example, to a tool held and guided by the robot arm. On the one hand, the supply line should run as close as possible to the robot arm's structure to minimize its obstruction. On the other hand, the supply line cannot be rigidly fixed to the robot arm along its entire length, as a certain reserve length is necessary because the robot arm sometimes reorients the tool and performs joint movements that the supply line must be able to follow without interference or tension.Therefore, a certain reserve length for the supply line must be provided on the cable guide device, whereby this reserve length should nevertheless not hang down or protrude far from the robot arm, but should nevertheless run close to the contour of the robot arm, at least in the front area of ​​the robot arm, i.e. in the area of ​​its wrists, i.e. between the cable guide device and the tool.

[0083] The cable management device is at least substantially housed within a casing. The housing allows the cable management device to be attached to a segment of the robot arm.

[0084] A section of the supply line passes through the housing, specifically along its axial length from a rear end to a front end. In the case of a cable-like bundle, the housing can have a tubular or circular cylindrical shape. The supply line preferably runs coaxially with the housing. Accordingly, the section of the supply line passing through the housing can be enclosed within a housing that is closed on all sides, with only the end faces of the tubular or circular cylindrical housing being open.

[0085] The supply line may, for example, have a protective conduit containing one or more individual lines designed to supply robots and / or their guided tools with utilities such as electrical energy, hydraulic fluid, oil, water, and / or compressed air. Such a supply line can be part of a so-called power supply system. The power supply line is generally pulled through a channel to position it as desired near the robot arm. A spring mechanism can retract the supply line to prevent sagging lines from interfering with the robot arm's working area.

[0086] The spring device can operate passively. In the case of passive retraction of an extended cable section, the spring device can, for example, have a spring coil that is relaxed, or at least nearly relaxed, when the supply cable is retracted and is under spring tension when extended, so that when an external tensile force on the supply cable is removed, the spring coil relaxes and the supply cable is moved back into the retracted state.

[0087] In the fully extended state of the supply line section, the spring coil may already be compressed to such an extent that it is close to its blocking state, in which the spring coil would no longer exhibit spring-elastic properties, as the individual turns of the spring coil would then already be touching each other.

[0088] The rear end section of the spring assembly is mounted on the spring assembly seat, which is permanently connected to the supply line. The spring assembly seat can, for example, be formed by a two-part plastic ring comprising two half-shell bodies that are screwed together, thereby attaching the plastic ring, for example, to a protective sleeve of the supply line.

[0089] The spring assembly seat or the plastic ring can have a seat or stop against which the end section of the spring assembly is supported. Such support can be achieved at least by fixing a coil of the spring assembly in the axial direction, i.e., opposite to the extension direction. The rear end section of the spring assembly or the rear end section of the coil can thus be fixed with respect to the supply line, in particular with respect to the protective conduit. The rear end section of the spring assembly or the rear end section of the coil can either be rotatably mounted about an axial axis with respect to the spring assembly seat or be rigidly attached to the spring assembly seat. Instead of a spring assembly seat with a seat or stop, or a plastic ring with a seat or stop, the spring assembly seat or the plastic ring can also be designed without a special seat or stop.For example, the spring device seat or the plastic ring can be designed as a protector known as such to those skilled in the art.

[0090] The front end section of the spring assembly is mounted on the counter bearing seat. The supply line, particularly together with the protective hose, can be extended and retracted, i.e., slidably, through the counter bearing seat. The spring assembly is thus supported at its front end section against the housing via the counter bearing seat.

[0091] When the supply line is pulled out of the housing of the cable guide device due to a joint movement of the robot arm or a movement of the tool, the spring coil is compressed, generating a spring return force. The housing can, for example, be designed as a two-part spring housing. The housing can, for instance, protect the spring coil from dirt, dampen noise, and guide the spring coil or the extendable section of the supply line linearly and prevent kinking. For assembly reasons, the spring retainer is preferably designed in two parts and transmits the tensile force from the supply line to the spring coil. To prevent the spring from jamming and thus avoid damage to the supply line, the maximum permissible extension of the supply line must not be exceeded.

[0092] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Specific features of these exemplary embodiments can, regardless of the specific context in which they are mentioned, and optionally considered individually or in further combinations, represent general features of the invention.

[0093] They show: Fig. 1 a perspective view of an exemplary robot arm, Fig. 2 a side view of a modified robot arm with a cable guide device which is mounted by means of a bearing device according to the invention, Fig. 3 a top view of the robot arm according to Fig. 2 with the cable guide device, Fig. 4 a perspective view of a first basic embodiment of a bearing device with a positively guided spherical rotary guide for a cable guide device on a robot arm with two positively guided degrees of freedom, Fig. 5 a front view of the bearing device according to Fig. 4 in a basic position of the cable guide device on the robot arm, Fig. 6 a front view of the bearing device according to Fig. 4 in a deflected position of the cable guide device on the robot arm, Fig. 7 a perspective view of a first basic embodiment of a bearing device with a positively guided spherical rotary guide for a cable guide device on a robot arm with only one positively guided rotational degree of freedom, Fig. 8 a front view of the bearing device according to Fig. 7 in a basic position of the cable guide device on the robot arm, Fig. 9 a front view of the bearing device according to Fig. 7 in a deflected position of the cable guide device on the robot arm, Fig. 10 a perspective view of a circumferential guide of the first basic embodiment in a standalone position together with a wobble turntable, Fig. 11 a side view of the first basic embodiment with a circumferential guide according to Fig. 10 , Fig. 12 a front view of the first basic embodiment with a circumferential guide according to Fig. 10 In the basic position, Fig. 13 shows a perspective view of the first basic embodiment with a circumferential guide according to Fig. 10 in the deflected position, Fig. 14 a perspective view of the first basic embodiment with a circumferential guide according to Fig. 10 In the basic position, Fig. 15 shows a schematic representation of a linkage mechanism of a bearing arrangement of the bearing device in the second basic embodiment, Fig. 16 shows a side view of a second basic embodiment of a bearing device with a tilting frame for a cable guide device, which is mounted on a robot arm by means of a spherical rotary bearing and a four-way articulation as a linkage mechanism, Fig. 17 shows a front view of the bearing device according to Fig. 16 in a basic position of the cable guide device, Fig. 18 a front view of the storage device according to Fig. 16 in a deflected position of the cable guide device, Fig. 19 a perspective view of the second basic embodiment according to Fig. 16 , Fig. 20 another perspective view of the second basic embodiment according to Fig. 16 in the basic position, and Fig. 21 a perspective view of the cable routing device according to Fig. 16 on a robot arm.

[0094] The Fig. 1 Figure 1 shows an exemplary robot 1 with a robot controller 2 and a robot arm 3. The robot arm 3 has a base frame 5 as its first element G1, on which a carousel 7 as its second element G2 is rotatably mounted about a first vertical axis A1 and driven by a first drive motor M1. The axes A1-A6 of the robot arm 3 can also be referred to as joints L1-L6 of the robot arm 3. A rocker arm 8 as its third element G3 is pivotably mounted on the carousel 7 about a second horizontal axis A2 and driven by a second drive motor M2. The rocker arm 8 carries a boom 9, which is pivotably mounted about a third horizontal axis A3 and driven by a third drive motor M3.A fourth axis A4 is provided on the arm 9, whose base arm 10 forms a fourth segment G4. This axis extends longitudinally along the arm 9 and, via a fourth drive motor (not shown), drives a forearm 11, which forms a fifth segment G5. A first leg 12a and a second leg 12b extend forward from the forearm 11 in a fork-like shape. The two legs 12a and 12b support a bearing for a hand 13, which forms a sixth segment G6. This bearing defines a fifth axis A5 of the robot arm 3, about which the hand 13 can be pivoted by means of a fifth drive motor (not shown). Additionally, the hand 13 has a sixth axis A6 to enable a sixth drive motor (not shown) to drive a mounting flange 14, which forms a seventh segment G7, in a rotatable manner.Each axis A1 to A6 is assigned a joint L1 to L6, which, in the illustrated embodiment, connects the links G1 to G7 in the manner of a serial kinematics of a kick-arm robot. A bearing device 20 according to the invention can, in particular, be attached to the base arm 10, for example, screwed onto bearing bosses 15.

[0095] In the case of the exemplary embodiment of the Fig. 1 The robot arm 3 is shown in a joint configuration that corresponds to a home position of the robot arm 3. This home position can also be referred to as an adjustment position. The adjustment positions of the individual joints correspond to a 0-degree position in axes A1, A4, A5, and A6, to a -90-degree position in axis A2, and to a +90-degree position in axis A3. In this home position or adjustment position of the robot arm 3, the arm extension 9, in particular the base arm 10, is horizontally aligned.

[0096] In the case of the slightly modified embodiment of the Fig. 2 and Fig. 3 The robot arm 3 also has several segments G1-G7 and joints L1-L6 that adjust the segments G1-G7 relative to each other. Each joint L1-L6 is driven by a motor M1-M6 of the robot arm 3. A robot controller 2, not shown in detail here, can be provided to control the motors M1-M6 in order to move the segments G1-G7 of the robot arm 3 by automatically adjusting the joints L1-L6. In the present embodiment, all joints L1-L6 of the robot arm 3 are designed as rotary joints. Each rotary joint is rotatable about an axis of rotation A1-A6. The robot arm 3 carries a cable guide 16, which has a receiving space 17 in which a cable section 18.1 of a power supply cable 18 is mounted so as to be extendable in an extension direction A. The energy supply line 18 has a line end 18.2 which, in the case of the present embodiment, is fixed with respect to the mounting flange 14 by means of a holder 19.

[0097] The robot arm 3 comprises a bearing device 20 according to the invention, which articulately connects the cable guide device 16 to the robot arm 3. The bearing device 20 is designed to movably mount the cable guide device 16 in at least two different degrees of freedom D1 and D2, each oriented perpendicular to the extension direction A. The first degree of freedom D1 allows free pivoting of the cable guide device 16 about a vertical Z-axis (yaw axis). The second degree of freedom D2 allows forced pitching or rolling of the cable guide device 16 about an X-axis and / or Y-axis lying in a horizontal plane.

[0098] In one variant of the cable guide device 16, this can, as in particular in Fig. 4 bis Fig. 9 The figure shows a housing 21 which is designed in the form of a tube. The tube forms a near-net-shape housing wall in which the conductor section 18.1 extends in the pull-out direction A ( Fig. 2 The cable guide 16, or housing 21, in this case has a supply line 18 (not shown) extending through the housing 21 in its axial longitudinal extent from a rear end 22 to a front end 23, as well as a spring device (not shown) arranged inside the housing 21, which is designed to automatically return the supply line 18 from an extended state to a retracted state by means of spring force. The housing 22 also includes two bearing blocks 24.1, 24.2 with which the cable guide 16 is mounted in the case of the first basic embodiment according to Fig. 4 bis Fig. 14 is attached to a wobble-type rotating disc 31 of the bearing device 20. In the case of the second basic embodiment described in more detail later, according to Fig. 15 bis Fig. 21 The cable guide device 16 is attached to a tilting frame 41 by means of the bearing blocks 24.1, 24.2.

[0099] The cable guide 16 has the receiving space 17 in which the cable section 18.1 is mounted so as to be extendable in the extension direction A. The bearing device 20 serves to mount or fasten the cable guide 16 to a link G1-G7 of the robot arm 3. In the present embodiment, the cable guide 16 is always mounted to the base arm 10 of the robot arm 3 by means of the bearing device 20.

[0100] The storage device 20 generally comprises a first connecting body 25.1, which is designed to rigidly connect the first connecting body 25.1 of the storage device 20 to the cable guide device 16.

[0101] The bearing device 20 also comprises a second connecting body 25.2, which is designed to rigidly connect the second connecting body 25.2 of the bearing device 20 to a link G1-G7 of the robot arm 1, in the case of the present embodiments on the base arm 10 of the robot arm 3.

[0102] The storage device 20 further comprises a bearing arrangement 26, which is designed to guide the first connecting body 25.1 rotatably relative to the second connecting body 25.2 in a first degree of rotational freedom D1, which is oriented perpendicular to the extension direction A, and to support it in a second degree of rotational freedom D2, which is oriented perpendicular to both the extension direction A and perpendicular to the first degree of rotational freedom D1, depending on the movement of the first connecting body 25.1 about the first degree of rotational freedom D1.

[0103] The bearing arrangement 26 is designed to securely support the second connecting body 25.2 relative to the first connecting body 25.1 in all three shear degrees of freedom.

[0104] Depending on the embodiment, the bearing arrangement 26 can be designed to support the first connecting body 25.1 relative to the second connecting body 25.2 in a third degree of rotational freedom D3 rotating about the extension direction A, depending on the movement of the first connecting body 25.1 about the first degree of rotational freedom D1.

[0105] The bearing arrangement 26 is in the case of the embodiment according to Fig. 4 bis Fig. 14 designed as a positively guided spherical rotary guide 30.

[0106] In the case of the embodiment according to Fig. 15 bis Fig. 21 The bearing arrangement 26, on the other hand, is designed as a spatial coupling mechanism 40.

[0107] In the embodiment according to Fig. 4 bis Fig. 14 The bearing arrangement 26, in particular the positively guided spherical rotary guide 30, has a wobble rotary disk 31 which is mounted on a frame 33 by means of a centrally arranged spherical rotary bearing 32 with three degrees of rotational freedom and is positively guided on its circumferential side on a circumferential guide 34 connected to the frame 33.

[0108] How best to Fig. 10 As can be seen, the main joint is a centrally located ball joint with a degree of freedom f = 3. Around this ball joint, offset by 90°, are mounted guide rollers 35.1, 35.2, 35.3, 35.4, each with a degree of freedom f = 4, forming the guide track followers 35. These guide rollers 35.1, 35.2, 35.3, 35.4 trace a spatially curved guide track 36. The guide track 36 is designed such that the cable guide 16 can move around the robot arm 3 without collisions. Simultaneous tracing of a complementary guide track 36a results in positive motion. The axes of the guide rollers 35.1, 35.2, 35.3, 35.4 intersect at the center of the ball joint (spherical rotary bearing 32). Furthermore, the axles of the track rollers 35.1, 35.2, 35.3, 35.4 are each arranged in pairs and aligned with one another. Since all axles of the track rollers 35.1, 35.2, 35.3, 35.If 4 intersect at one point and the path of motion of limb points lies on concentric spherical shells, this is a spherical arrangement.

[0109] The wobble turntable 31 can, as particularly in Fig. 10 As shown, the rotating disk 31 has a cross-shaped form. Accordingly, the wobble-type rotary disk 31 can, for example, have four arms 31.1, 31.2, 31.3, 31.4, each offset from the others by 90 degrees, extending outwards at least substantially radially from the centrally arranged spherical rotary bearing 32. At each free end of each arm 31.1, 31.2, 31.3, 31.4, the positively guided bearing in the form of the rollers 35.1, 35.2, 35.3, 35.4 and the guide tracks 36 can be arranged.

[0110] The circumferential guide 34 thus has at least one guide track 36 connected to the frame 33 or several guide tracks 36 on which the guide track followers 35, i.e. the rollers 35.1, 35.2, 35.3, 35.4 move, being connected to the wobble turntable 31.

[0111] A corresponding positive guidance can therefore be achieved by the wobble turntable 31 having two opposing, outward-extending arms 31.2 and 31.4 or 31.1 and 31.3, respectively, each paired together, each equipped with a roller 35.1, 35.2, 35.3, 35.4. Each of the two pairs of rollers 35.2 and 35.4 or 35.1 and 35.3 runs on its own guide track 36 and complementary guide track 36a. The first roller 35.1 runs on a first guide track 36.1 of a first contour, which determines the movement of the wobble turntable 31 about the positively guided (second) rotational degree of freedom D2. The opposite second roller 35.2 runs on a second guide track 36.2 of a second contour, the complementary guide track 36a, which is point-symmetrically mirrored to the first contour of the first guide track 36.1. The second roller 35.2 is supported on the second guide track 36.2. Lifting of the first roller 35.1 from the first guide track 36.1 is prevented by the leverage of the arms 31.1 and 31.2 of the wobble turntable 31. In this way, positive guidance is ensured, for example, about the second degree of freedom D2.

[0112] If positive guidance is also to be ensured for the third degree of freedom D3, this can be achieved by the wobble turntable 31 having two opposing, outward-extending additional arms 31.3 and 31.4, each equipped with an additional roller 35.3 and 35.4. Each of the two rollers 35.3 and 35.4 runs on its own guide track 36.3 and 36.4. The third roller 35.3 runs on a third guide track 36.3 of a third contour, which determines the movement of the wobble turntable 31 about the positively guided (third) degree of freedom D3. The fourth roller 35.4, opposite the third roller 35.3, runs on a fourth guide track 36.4 of a fourth contour, which is a point-symmetrical mirror image of the third contour of the third guide track 36.3. By supporting the fourth roller 35.4 on the fourth guide track 36.4, the third roller 35.4 is prevented from lifting off.3 from the third guide track 36.3 is prevented. If a changing forced guidance, i.e. a forced movement about the third rotational degree of freedom D3 is not required, as is the case, for example, in the illustrated embodiment of the . Fig. 10 If this is the case, both the third guideway 36.3 and the fourth guideway 36.4 can be used, as in Fig. 10 shown, just formed and extending in the same plane.

[0113] In a special embodiment with only a first guideway follower 35 (first roller 35.1) and a second guideway follower 35 (second roller 35.2), the wobble turntable 31 can be designed to prevent, or rather, to block, rotation about the third degree of freedom D3. For this purpose, the wobble turntable 31 can have a third guideway follower 35 (third roller 35.3) that moves on a third track section of the guideway 36, and a fourth guideway follower 35 (fourth roller 35.4) arranged opposite the third guideway follower 35 (third roller 35.3) that moves on a fourth track section of the guideway 36.However, in this particular embodiment, the third and fourth track sections are designed as planar tracks, preferably both lying in the same spatial plane, which is aligned, for example, parallel to the extension direction (X-axis) and parallel to the pitch axis (Y-axis). In other words, the planar tracks of the third and fourth track sections extend at least substantially perpendicular to the yaw axis (Z-axis). With this limited mobility of the wobble turntable 31, the cable guide 16 can therefore only perform a rotation about the yaw axis (Z-axis) and, constrained by this rotation, only a rotation about the pitch axis (Y-axis). Consequently, the cable guide 16 remains constant with respect to a rolling movement, i.e., a rotation about the extension direction (X-axis).

[0114] The wobble turntable 31 can have a third guide track follower 35 (third roller 35.3) which moves on a third track section of the guide track 36, and the wobble turntable 31 can have a fourth guide track follower 35 (fourth roller 35.4) arranged opposite the third guide track follower 35 (third roller 35.3) which moves on a fourth track section of the guide track 36, wherein the track profile of the third track section is complementary to the track profile of the fourth track section, such that backlash-free rotation of the wobble turntable 31 about the third degree of freedom D3 occurs when the wobble turntable 31 rotates about the first degree of freedom D1.

[0115] As particularly in Fig. 10 and Fig. 12 As can be seen, the guide track 36 can have at least one detent stop 37 which is designed to limit a rotational movement of the wobble turntable 31 about the first degree of freedom D1 to a rotational angle of less than 90 degrees.

[0116] Upon reaching the design-defined rotation angle limit, the corresponding roller 35.1, 35.2, 35.3, 35.4 engages in the detent stop 37. A vertical stop wall 38 can prevent further rotation beyond the defined rotation angle limit.

[0117] The guide track 36 or the circumferential guide 34 as such can be interchangeably attached to the frame 33 by means of detachable fasteners 39. The detachable fasteners 39 can, in particular, be fasteners that can be loosened or tightened by a fitter using hand tools. Thus, the detachable fasteners 39 can be, as in Fig. 10 Examples shown include screws or studs in conjunction with nuts.

[0118] In the second basic embodiment according to Fig. 15 bis Fig. 21 The bearing arrangement 26 is designed as a spatial coupling mechanism 40.

[0119] The second basic embodiment of a bearing device 20 or a bearing arrangement 26 can include a tilting frame 41. The tilting frame 41 is functionally equivalent to the wobble-turntable 31 according to the first basic embodiment of a bearing device 20 or a bearing arrangement 26. The tilting frame 41 can optionally be formed from rigid struts or be designed as a solid body. In the case of a solid body, the tilting frame 41 can also be a plate or a flat sheet. The tilting frame 41 is mounted on the frame 33 of the bearing device 20 via the spatial coupling mechanism 40.

[0120] The bearing arrangement 26 of the second basic embodiment, in particular the spatial coupling mechanism 40, has the tilting frame 41, which is mounted on a frame 43 at a first end section 41.1 of the tilting frame 41 by means of a spherical rotary bearing 42 with three degrees of rotational freedom and is mounted on the frame 43 at a second end section 41.2 of the tilting frame 41 opposite the first end section 41.1 of the tilting frame 41 by means of a four-way joint 44.

[0121] The spherical pivot bearing 42 can also be referred to as a ball joint. The spherical pivot bearing 42, i.e., the ball joint, is characterized by the fact that it allows rotations in all three rotational degrees of freedom (Cartesian coordinate system), but restricts all three linear degrees of freedom (linear X-direction, linear Y-direction, and linear Z-direction). The spherical pivot bearing 42 can be arranged on the tilting frame 41 in such a position that, when the cable guide 16 is mounted on the tilting frame 41, it is positioned at least substantially below an end of the receiving space 17 for the cable section 18.1 of the cable guide 16 that is rearward with respect to the extension direction A.

[0122] The articulated quadrilateral 44 can span an articulated plane that is oriented at least substantially perpendicular to the extension direction A of the cable section 18.1 of the cable guide 16 from the receiving space 17 when the cable guide 16 is mounted on the tilting frame 41. The articulated plane of the articulated quadrilateral 44 is preferably located at a mean height along the longitudinal extent of the receiving space 17 of the cable guide 16. The longitudinal extent of the receiving space 17 corresponds to the extension direction A of the cable section 18.1.

[0123] The articulated quadrilateral 44 comprises a total of four spherical pivot joints 45. A first spherical pivot joint 45.1 connects a first coupling link 46.1 to the tilting frame 41. A second spherical pivot joint 45.2 connects the first coupling link 46.1 to the frame 43. A third spherical pivot joint 45.3 connects the tilting frame 41 to a second coupling link 46.2. A fourth spherical pivot joint 45.4 connects the second coupling link 46.2 to the frame 43. The second spherical pivot joint 45.2 and the fourth spherical pivot joint 45.4 are spaced apart from each other. Likewise, the first spherical pivot joint 45.1 and the third spherical pivot joint 45.3 are spaced apart from each other. The distance between the second spherical pivot joint 45.2 and the fourth spherical pivot joint 45.4 can be, in particular, less than the distance between the first spherical pivot joint 45.1 and the third spherical pivot joint 45.3.

[0124] The articulated quadrilateral 44 accordingly comprises a first connecting rod 46a, at the distal first rod end of which a first spherical pivot joint 45.1 is arranged, coupling the first connecting rod 46a to the tilting frame 41, and at the proximal second rod end of which a second spherical pivot joint 45.2 is arranged, coupling the first connecting rod 46a to the frame 43, and the articulated quadrilateral 44 comprises a second connecting rod 46b, at the distal third rod end of which a third spherical pivot joint 45.3 is arranged, coupling the second connecting rod 46b to the tilting frame 41, and at the proximal fourth rod end of which a fourth spherical pivot joint 45.4 is arranged, coupling the second connecting rod 46b to the frame 43.

[0125] In this embodiment, the first coupling element 46.1 is formed by a first connecting rod 46a, and the second coupling element 46.2 is formed by a second connecting rod 46b. Proximal means that the respective rod end faces the frame 43, i.e., is closer to the robot arm 3. Distal means that the respective rod end faces the tilting frame 41, i.e., is farther away from the robot arm 3, i.e., closer to the cable guide 16. Both the first connecting rod 46a and the second connecting rod 46b are rigidly designed. In particular, the first connecting rod 46a and the second connecting rod 46b have the same effective length.

[0126] The first spherical pivot joint 45.1 and the second spherical pivot joint 45.2 of the first connecting rod 46a, as well as the third spherical pivot joint 45.3 and the fourth spherical pivot joint 45.4 of the second connecting rod 46b, can be designed as rod ends. The rod ends can be designed, in particular, according to DIN ISO 12240-4. The first spherical pivot joint 45.1 and the second spherical pivot joint 45.2 of the first connecting rod 46a, as well as the third spherical pivot joint 45.3 and the fourth spherical pivot joint 45.4 of the second connecting rod 46b, thus form ball joints.

[0127] The second spherical swivel joint 45.2 of the first connecting rod 46a and the fourth spherical swivel joint 45.4 of the second connecting rod 46b are, as is shown in particular in Fig. 15 The first spherical pivot joint 45.1 of the first connecting rod 46a and the third spherical pivot joint 45.3 of the second connecting rod 46b are positioned a smaller distance apart on the frame 43 than the first spherical pivot joint 45.1 of the first connecting rod 46a and the third spherical pivot joint 45.3 of the second connecting rod 46b are arranged a distance apart on the tilting frame 41.

[0128] The spherical rotary bearing 42 is arranged at a distance from the outlet opening of the receiving chamber 17 that is two to three times greater than the distance of the articulating quadrilateral 44 from the spherical rotary bearing 42. This is particularly evident in Fig. 16 and Fig. 19 visible.

[0129] In a basic position of the tilting frame 41 according to Fig. 16, Fig. 17 , Fig. 19 und Fig. 20 , its main extension plane is aligned parallel to the main extension plane of the frame 43. This also corresponds to a home position of the cable guide device 16 when it is mounted on the tilting frame 41. In a home position of the robot arm 3 ( Fig. 1 For example, the arm extension 9 of the robot arm 3 is horizontally oriented. When the bearing device 20, and thus also the cable guide 16, is attached to the arm extension 9 of the robot arm 3, the tilting frame 41 also extends in a horizontal plane in its home position. Accordingly, the cable guide 16 also extends in a horizontal plane. This consequently means that in the home position, the extension direction A of the cable guide 16 is also horizontal.

[0130] If, by a pulling motion triggered by a movement of the robot hand in space, which guides the front end of the cable 18, the cable section 18.1 is pulled out of the receiving space 17 at an angle to the extension direction A of the cable guide 16, lateral forces act on the housing 21 of the cable guide 16. This allows the housing to rotate laterally due to the free first degree of freedom D1 of the bearing device 20. This, in turn, directly causes the tilting frame 41, and thus also the cable guide 16, to tilt downwards and / or rotate axially due to the constrained second degree of freedom D2 and / or third degree of freedom D3. This corresponds to a nodding or rolling motion of the cable guide 16, which is superimposed on the pivoting movement of the cable guide 16.

[0131] The articulating quadrilateral can, as particularly in Fig. 17 It can be seen that the frame has a spring device 47 which is designed to hold the tilting frame 41 in a central basic position with respect to the frame 43 when no external forces act on the bearing device 20.

[0132] If, through a relieving movement of the robot hand in space, which guides the front end of the cable 18, the cable section 18.1 is pulled back into the receiving space 17 against the extension direction A of the cable guide 16, no lateral forces act on the housing 21 of the cable guide 16, or at least only minor lateral forces act on the housing 21 of the cable guide 16. In this case, it may be desirable for the cable guide 16 to automatically return to its initial position, i.e., its home position (see Fig. 17 for example) is moved back. This function can be effected by the spring device 47. The spring device 47 acts on the hinge quadrant 44 to move it back to its home position. The home position of the hinge quadrant 44 therefore corresponds to the home position of the tilting frame 41 and thus to the home position of the cable guide device 16.

[0133] The spherical rotary bearing 42 can include a ball head which is rotatably guided in a ball socket, such that the ball head is mounted to be tiltable by tilting angles of up to 40 degrees.

[0134] The first spherical pivot joint 45.1, the second spherical pivot joint 45.2, the third spherical pivot joint 45.3 and the fourth spherical pivot joint 45.4 can be designed as rod ends.

[0135] The Fig. 21Figure 3 shows the robot arm 3, comprising several links G1-G7 and joints L1-L6 adjusting the links G1-G7 relative to each other, as well as the cable guide device 16, which has a receiving space 17 in which a cable section of an energy supply cable (not shown) is extendably mounted in an extension direction A, for guiding the energy supply cable along several of the links G1-G7 of the robot arm 3, wherein the robot arm 3 has a bearing device 16 which mounts the cable guide device 16 in at least two different degrees of rotational freedom D1, D2, D3, each oriented perpendicular to the extension direction A of the energy supply cable, for example on the link 10, G4 of the robot arm 3.

Claims

1. Supporting apparatus for a line-routing apparatus (16) of a robot arm (3), wherein the line-routing apparatus (16) has a receiving space (17) in which a line portion (18.1) is supported so as to be extendable in an extension direction (A), for supporting the line-routing apparatus (16) on the robot arm (3), comprising: - a first connection body (25.1) which is configured for rigid connection of the first connection body (25.1) of the supporting apparatus (20) to a line-routing apparatus (16), - a second connection body (25.2) which is configured for rigid connection of the second connection body (25.2) of the supporting apparatus (20) to a member (G1-G7) of a robot arm (3), and - a bearing arrangement (26) which is configured for rotationally movable guidance in a first rotational degree of freedom (D1), which is oriented perpendicularly to the extension direction (A), and for support in a second rotational degree of freedom (D2), which is oriented perpendicularly both to the extension direction (A) and to the first rotational degree of freedom (D1), of the first connection body (25.1) relative to the second connection body (25.2), characterized in that the bearing arrangement is configured for support in the second rotational degree of freedom (D2) of the first connection body (25.1) relative to the second connection body (25.2) in a positively guided manner according to the movement of the first connection body (8) around the first rotational degree of freedom (D1).

2. Supporting apparatus according to Claim 1, characterized in that the bearing arrangement (26) is configured for fixed support in all three translational degrees of freedom of the second connection body (25.2) relative to the first connection body (25.1).

3. Supporting apparatus according to Claim 1 or 2, characterized in that the bearing arrangement (26) is configured for support in a third rotational degree of freedom (D1), with rotation around the extension direction (A), of the first connection body (25.1) relative to the second connection body (25.2) in a positively guided manner according to the movement of the first connection body (25.1) around the first rotational degree of freedom (D1).

4. Supporting apparatus according to one of Claims 1 to 3, characterized in that the bearing arrangement (26) is in the form of a spherical rotary guide (30) for positive guidance.

5. Supporting apparatus according to Claim 4, characterized in that that the bearing arrangement (12), in particular the spherical rotary guide (30) for positive guidance, has a nutating disc (31) which is supported by means of a centrally arranged spherical rotary bearing (32) with three rotational degrees of freedom on a stand (33) and, at the circumference, is supported in a positively guided manner on a circumferential guide (34) connected to the stand (33).

6. Supporting apparatus according to Claim 5, characterized in that the circumferential guide (34) has a guide track (36) which is connected to the stand (33) and on which at least one guide-track follower (35), connected to the nutating disc (31), moves.

7. Supporting apparatus according to Claim 6, characterized in that the at least one guide-track follower (35) comprises a running roller (35.1, 35.2, 35.3, 35.4) which is mounted rotatably on the nutating disc (31) and which rolls on the guide track (36).

8. Supporting apparatus according to Claim 6 or 7, characterized in that the nutating disc (31) has a first guide-track follower (35) which moves on a first track portion of the guide track (36), and the nutating disc (31) has a second guide-track follower (35), arranged opposite the first guide-track follower (35), which moves on a second track portion of the guide track (36), wherein the track profile of the first track portion is formed in a manner complementary to the track profile of the second track portion in such a way that play-free rotation of the nutating disc (31) around the second rotational degree of freedom (D2) is realized when the nutating disc (31) rotates around the first rotational degree of freedom (D1).

9. Supporting apparatus according to one of Claims 6 to 8, characterized in that the nutating disc (31) has a third guide-track follower (35) which moves on a third track portion of the guide track (36), and the nutating disc (31) has a fourth guide-track follower (35), arranged opposite the third guide-track follower (35), which moves on a fourth track portion of the guide track (36), wherein the track profile of the third track portion is formed in a manner complementary to the track profile of the fourth track portion in such a way that play-free rotation of the nutating disc (31) around the third rotational degree of freedom (D3) is realized when the nutating disc (31) rotates around the first rotational degree of freedom (D1).

10. Supporting apparatus according to Claim 1 or 2, characterized in that the bearing arrangement (26) has a tilting frame (41) which, at a first end portion (41.1) of the tilting frame (41), is supported by means of a spherical rotary bearing (42) with three rotational degrees of freedom on a stand (43) and which, at a second end portion (41.2) of the tilting frame (41), opposite the first end portion (41.1) of the tilting frame (41), is supported on the stand (43) by means of an articulated quadrilateral (44).

11. Supporting apparatus according to Claim 10, characterized in that the articulated quadrilateral (44) comprises a first coupling rod (46a) on whose distal, first rod end is arranged a first spherical rotary joint (45.1), which couples the first coupling rod (46a) to the tilting frame (41), and on whose proximal, second rod end is arranged a second spherical rotary joint (45.2), which couples the first coupling rod (46a) to the stand (43), and the articulated quadrilateral (44) comprises a second coupling rod (46b) on whose distal, third rod end is arranged a third spherical rotary joint (45.3), which couples the second coupling rod (46b) to the tilting frame (41), and on whose proximal, fourth rod end is arranged a fourth spherical rotary joint (45.4), which couples the second coupling rod (46b) to the stand (43).

12. Supporting apparatus according to Claim 11, characterized in that the second spherical rotary joint (45.2) of the first coupling rod (46a) and the fourth spherical rotary joint (45.4) of the second coupling rod (46b) are arranged at a shorter distance from one another on the stand (43) than the first spherical rotary joint (45.1) of the first coupling rod (46a) and the third spherical rotary joint (45.3) of the second coupling rod (46b) on the tilting frame (41).

13. Supporting apparatus according to one of Claims 10 to 12, characterized in that the spherical pivot bearing (42) is arranged at a distance from an exit opening of the receiving space (17) that is two to three times greater than the distance of the articulated quadrilateral (44) from the spherical pivot bearing (42).

14. Supporting apparatus according to one of Claims 10 to 13, characterized in that the articulated quadrilateral (44) has a spring device (47) which is configured to hold the tilting frame (41) in a middle home position with respect to the stand (43) if no external forces act on the supporting apparatus (20).

15. Robot arm, having multiple members (G1-G7) and joints (L1-L6) which adjust the members (G1-G7) relative to one another, and also having a line-routing apparatus (16) which has a receiving space (17) in which a line portion (18.1) of an energy-supply line (18) is supported so as to be extendable in an extension direction (A), for guiding the energy-supply line (18) along a plurality of the members (G1-G7) of the robot arm (3), characterized in that the robot arm (3) has a supporting apparatus (20) according to one of Claims 1 to 14 that supports the line-routing apparatus (16), in particular a housing (21) of the line-routing apparatus (16), on a member (G1-G7) of the robot arm (3) in two different rotational degrees of freedom (D1, D2, D3), each oriented perpendicularly to the extension direction (A) of the line portion (18.1) of the energy-supply line (18), such that it is movable in a positively coupled manner.