Line protector ring

Abstract

The invention relates to a line protector ring (1) for a power supply line (17) on a robot arm (5), having at least one first part-shell (6.1) and at least one second part-shell (6.2), wherein the part-shells (6.1, 6.2), when assembled, complement each other to form a first ring body (7.1) of the line protector ring (6), which first annular body (7.1) has an inner casing wall (7a), which circumferentially surrounds the power supply line (17) when the line protector ring (6) is arranged in its installed position on the power supply line (17), wherein the first ring body (7) has a circumferential seat surface (7b), which is arranged on its outer casing wall and on which an integral, circumferentially closed second ring body (7.2) is mounted.

Description

[0001] Cable protector ring

[0002] The invention relates to a cable protector ring for a power supply line on a robot arm, comprising at least a first partial shell and at least a second partial shell, wherein the partial shells complement one another when assembled to form a first annular body of the cable protector ring, which first annular body has an inner jacket wall which surrounds the power supply line on the circumference when the cable protector ring is arranged in its mounting position on the power supply line.

[0003] DE 201 00 947 U1 describes a wear ring for protecting a cable guide hose on a robot, comprising an inner ring and an outer ring, each with two half-shells. The half-shells of at least one of the rings can be locked together.

[0004] The object of the invention is to create a cable protector ring for an energy supply cable on a robot arm which, in the event of its worn condition, can be easily restored with little assembly effort.

[0005] The object is achieved by a line protector ring for a power supply line on a robot arm, comprising at least a first partial shell and at least a second partial shell, wherein the partial shells complement one another when assembled to form a first annular body of the line protector ring, which first annular body has an inner jacket wall which surrounds the power supply line on the circumference when the line protector ring is arranged in its mounting position on the power supply line, wherein the first annular body has a circumferential seating surface arranged on its outer jacket wall, onto which a one-piece, circumferentially closed second annular body is placed.

[0006] The type of cable protector rings in question generally serve to protect a power supply cable from substantial damage by keeping the power supply cable at a distance from a robot arm and / or by only allowing contact between the power supply cable and the links of the robot arm to a certain extent, essentially only at the cable protector rings, so that on the one hand there are as few collisions as possible between the power supply cable and the robot arm and / or so that the power supply cable primarily comes into contact with the links of the robot arm only via its cable protector rings. The cable protector rings can be intended for attachment to the power supply cable. One or more cable protector rings can therefore be attached to an outer casing wall of the power supply cable or to a protective hose of the power supply cable.One or more cable protector rings can also surround the power supply line only on the circumference, without being directly attached to the power supply line. Thus, the first ring body can generally have an inner shell wall that surrounds the power supply line on the circumference when the cable protector ring is arranged in its installed position on the power supply line. One or more cable protector rings can, for example, be attached to a ring or pipe socket that surrounds the power supply line, i.e., in such a case, the power supply line is guided through the ring or the pipe socket.The cable protector rings also serve as wear elements, deliberately designed to contact the robot arm's links. This ensures that unavoidable collisions, which may also include grinding movements, between the power supply cable and the robot arm occur only with the cable protector rings. Thus, the actual power supply cable, in particular its protective hose, is protected from damage and wear. A corresponding power supply cable can, for example, be equipped with one, two, or more cable protector rings.

[0007] An energy supply line is understood to mean, in particular, an energy line and / or an energy supply, which can comprise lines such as electrical lines, cold and / or hot water lines, fluid and / or pressure lines to tools that are flanged to the robot arm. The energy supply line, in particular the energy line and / or the energy supply, can be combined in individual strands or in cable bundles and can be sheathed in particular with one or more flexible protective hoses, such as corrugated hoses. The line protector rings can, for example, be attached to these corrugated hoses.

[0008] To ensure that the cable protector rings on a power supply cable can be fully assembled and disassembled as needed, even while the power supply cable is mounted on a robot arm, they generally have to be constructed in at least two parts. The at least two half-shells are typically connected to each other using conventional fastening devices. These fastening devices can be screws or rivets, made of either metal or plastic.

[0009] The first annular body can form an inner ring of the line protector ring, which is concentrically surrounded by a second annular body as an outer ring. The first annular body comprises at least one first partial shell and at least one second partial shell, wherein the partial shells complement each other when assembled to form the first annular body of the line protector ring.

[0010] According to the invention, the first annular body has a circumferential seating surface arranged on its outer casing wall, onto which a one-piece, circumferentially closed second annular body is placed. In contrast to the first annular body, the second annular body is therefore not made up of multiple parts, but rather is made in one piece. When assembled, the second annular body surrounds the first annular body circumferentially from the outside. The one-piece second annular body is therefore seated on the outer casing of the first annular body. The second annular body forms the part of the line protector ring intended for wear, i.e. the actual wear ring.

[0011] The multi-part inner ring merely forms a carrier ring with which the entire cable protector ring is attached to an energy supply cable.

[0012] The outer ring forms the wear ring, which is designed to allow the energy supply line to slide over the robot arm with as little friction or wear as possible. On the other hand, the second ring body, i.e. the one-piece outer ring or the one-piece wear ring, is intended to provide the wear material required for a certain period of time due to unavoidable wear, so that the multi-piece first ring body, i.e. the carrier ring, is reliably or at least largely prevented from being damaged. The outer ring is intended to be worn down on the robot arm during normal operation, on the one hand to protect the links of the robot arm and on the other hand to protect the inner ring or the carrier ring from wear.

[0013] Since the first ring body has a circumferential seating surface arranged on its outer casing wall, onto which a one-piece, circumferentially closed second ring body is placed, repair of an energy supply line on a robot arm can be carried out more easily, quickly and cost-effectively.

[0014] First, the second ring body, which forms the actual wear ring, has no gaps or joints due to its one-piece design. Since there are no gaps or joints on the second ring body, there are no edges or steps that could, on the one hand, be at risk of being subject to increased wear themselves, and, on the other hand, the edges or steps could potentially cause increased wear on the surface of the robot arm.

[0015] In addition, due to the one-piece design of the second ring body, no fastening or connecting means are required, which would otherwise be necessary to connect the otherwise multiple parts. Existing fastening or connecting means also carry a certain risk of causing increased wear on the surface of the

[0016] Robot arm. Omitting fasteners or connecting elements is also more cost-effective and reduces the variety of parts in production.

[0017] With the invention, if the wear limit on the line protector ring is reached, the two-part or multi-part first ring body (carrier ring) can remain on the energy supply line and only the worn outer second ring body (wear ring) needs to be replaced. If a worn second ring body is to be removed, it is sufficient to simply pull it off the first ring body, i.e. the carrier ring, in the axial direction. The second ring body pulled off the first ring body, i.e. the carrier ring, can then be pulled off the energy supply line or the corrugated hose of the energy supply line in the axial direction. In this respect, no tools are then required to loosen a fastening means or a connecting means so that the second ring body can be removed from the first ring body.

[0018] In general, the invention also results in a very economical cable protector ring, since in the event of wear only the outer second ring body needs to be replaced and the first ring body can remain on the energy supply line, i.e. can continue to be used.

[0019] Removing a worn second annular body from the power supply line is particularly easy because the inner diameter of the second annular body is significantly larger than the outer diameter of the power supply line or the corrugated hose of the power supply line due to the size of the first annular body. The one-piece, circumferentially closed second annular body can be clamped onto the circumferential seating surface of the first annular body in a force-fitting manner.

[0020] Since the one-piece, circumferentially closed second ring body is clamped force-fittingly on the circumferential seating surface of the first ring body, separate fastening means or a connecting means can be omitted, i.e. in particular for removing the second ring body from the first ring body, no tools for loosening the fastening means or a connecting means are required.

[0021] The one-piece, circumferentially closed second ring body can be made of an elastomeric material. If the second ring body is made of an elastomeric material, it has the inherent elasticity of the second ring body itself, and no separate clamping devices are required. The elastomeric material can be, for example, a polyurethane, a natural rubber, or a silicone rubber.

[0022] The elasticity of the second ring body can be adjusted by suitable selection of a certain elastomer material for the second ring body. The elasticity of the second ring body should, for example, be adjusted on the one hand with a view to the highest possible adhesion of the second ring body to the first ring body and on the other hand with a view to the easiest possible (manual) removal of the second ring body from the first ring body. A high adhesive force of the second ring body on the first ring body should ensure that the second ring body does not come loose accidentally when the energy supply cable is operated on the robot arm and the cable protector ring is dragged along the robot arm, but remains reliably on the first ring body due to the clamping force. Easy (manual) removal should ensure that the second ring body can be removed by one person without special tools, if necessary.manually, can be axially stiffened from the first ring body, so that the second ring body can be easily removed in the event of wear or a new second ring body can be easily pushed axially onto the first ring body.

[0023] The one-piece, circumferentially closed second annular body can have a hollow cross-section. A hollow cross-section allows a relatively high (radial) elasticity to be achieved in the second annular body, even if the material for the second annular body has a rather low elasticity or a relatively high rigidity. The elasticity in the cross-section can then be adjusted by appropriately selecting the outer diameter of the second annular body relative to the inner diameter of the hollow channel of the second annular body.

[0024] As an alternative to a hollow cross-section, the second ring body can also be made of solid material. The solid material can then, in particular, be a softer material than a corresponding material in a second ring body with a hollow cross-section.

[0025] The one-piece, circumferentially closed second ring body can have a circular cross-section.

[0026] If the one-piece, circumferentially closed second annular body has a circular cross-section, the circumferential seating surface of the first annular body can be shaped like a groove. The groove then has a radius of curvature that matches the diameter of the second annular body.

[0027] Especially if the first annular body is designed to rotate around the outer wall of the hose casing of the energy supply line, it can be expedient for the one-piece, circumferentially closed second annular body to have a circular cross-section. Particularly with a rotatable mounting of the first annular body on the outer wall of the hose casing of the energy supply line, there is a very low risk that the second annular body with a circular cross-section will be undesirably pulled off the first annular body if the second annular body drags over the robot arm during operation.

[0028] The one-piece, circumferentially closed second annular body can have a circular cross-section.

[0029] In the case of a one-piece, circumferentially closed second annular body with a cross-section in the shape of a circular segment, the cross-sectional contour of the second annular body comprises an arcuate, i.e. convex outer wall section and a straight, i.e. inner wall section forming the chord of the cross-section in the shape of a circular segment. The inner wall section faces the first annular body during assembly, i.e. the straight inner wall section rests on the circumferential seating surface of the first annular body. The convex outer wall section forms the actual wear surface of the second annular body or of the entire line protector ring.

[0030] The inner shell wall of the one-piece, circumferentially closed second annular body can have at least one recessed groove and the circumferential seating surface of the outer shell wall of the first annular body can have an annular projection corresponding to the recessed groove of the one-piece, circumferentially closed second annular body, which, in the assembled state of the one-piece, circumferentially closed second annular body on the first annular body, engages in a form-fitting manner in the recessed groove of the one-piece, circumferentially closed second annular body.

[0031] By means of the at least one recessed groove and the corresponding at least one annular projection, the assembly of the first annular body and the second annular body receives additional axial fixation. The recessed groove, together with the annular projection, also forms a guide to ensure the precise mounting position of the second annular body on the first annular body.

[0032] The circumferential seating surface of the outer shell wall of the first annular body can be designed to simultaneously accommodate at least one first one-piece, circumferentially closed second annular body and at least one second one-piece, circumferentially closed second annular body.

[0033] The circumferential seating surface of the first ring body can therefore be shaped accordingly so that instead of just a single second ring body, two, three, four or even more second ring bodies can be attached to the same first ring body.

[0034] Each of the plurality of one-piece, circumferentially closed second annular bodies can be located in an associated annular recess of the common first annular body. The plurality of annular recesses and the plurality of one-piece, circumferentially closed second annular bodies can each extend parallel to one another over the circumference of the first annular body. The plurality of one-piece, circumferentially closed second annular bodies can be arranged axially spaced from one another.

[0035] The first annular body can have fastening means which are designed for the rotationally fixed and axially fixed clamping of the first annular body to a hose outer jacket wall of an energy supply line.

[0036] The first annular body may have bearing means which are designed for rotatable mounting about a central axis of the first annular body and for axially fixing the first annular body to a hose outer casing wall of an energy supply line.

[0037] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may, if appropriate, also represent general features of the invention when considered individually or in further combinations.

[0038] It shows :

[0039] Fig. 1 is a perspective view of an exemplary robot arm with an energy supply cable and associated cable protector rings,

[0040] Fig. 2 is an enlarged perspective

[0041] Representation of a section of the energy supply line in the area of ​​a first exemplary

[0042] Execution form of a

[0043] cable protector ring,

[0044] Fig . 3 a schematic representation of the

[0045] Line protector ring according to Fig. 2 with the one-piece second ring body removed from the two-part first ring body,

[0046] Fig. 4 is an exploded view of the

[0047] Cable protector ring according to Fig. 2,

[0048] Fig . 5 a cross-sectional view of the

[0049] Cable protector ring according to Fig. 2,

[0050] Fig. 6 is a schematic representation of a second exemplary embodiment of a line protector ring with a rotatably mounted two-part first ring body and a one-part second ring body with a circular cross-section,

[0051] Fig . 7 a schematic representation of the

[0052] Cable protector ring according to Fig. 6 with the one-piece second ring body removed from the two-part first ring body,

[0053] Fig . 8 an exploded view of the

[0054] Line protector ring according to Fig. 6, Fig. 9 a partial cross-sectional view of the

[0055] Cable protector ring according to Fig. 6,

[0056] Fig. 10 is a schematic representation of a third exemplary embodiment of a line protector ring with a two-part first ring body and several one-part second

[0057] Ring bodies with a circular cross-section, and

[0058] Fig . 11 a cross-sectional view of the

[0059] Cable protector ring according to Fig. 10.

[0060] Fig. 1 shows an industrial robot 1 with a base frame 2 on which a carousel 3 is mounted so as to be rotatable about a first vertical axis A1 and is rotationally driven by a first drive motor M1. A rocker arm 4 is mounted on the carousel 3 so as to be pivotable up and down about a second horizontal axis A2 and is rotationally driven by a second drive motor M2. The rocker arm 4 carries a robot arm 5, in this case designed as an arm extension 5a, which is mounted so as to be pivotable up and down about a third horizontal axis A3 and is rotationally driven by a third drive motor M3. A fourth axis A4 is provided on the arm extension 5a, which runs in the longitudinal extent of the arm extension 5a and rotationally drives a hand 5b of the arm extension 5a via a fourth drive motor M4. A first leg 8 and a second leg 9 extend forward in a forked manner from the hand 5b. The two legs 8 and 9 support a support for a free end 10 of the hand 7.The bearing defines a fifth axis A5 of the industrial robot 1, about which the hand 5b can be pivoted by means of a fifth drive motor M5. Additionally, the hand 5b has a sixth axis A6 in order to be able to rotatably drive a mounting flange 11 by means of a sixth drive motor M6.

[0061] The arm extension 5a carries an energy supply device 12. The energy supply device 12 begins behind a connection plate 13 which is firmly connected to the arm extension 5a of the industrial robot 1. Individual cables 14 lead from the connection plate 13 to a clamp 15. The clamp 15 is fastened to a housing 18 of the energy supply device 12. The clamp 15 clamps the individual cables 14 and fixes them in a fixed position with respect to the housing 18. An energy supply line 17 of the energy supply device 12 is guided in a U-shape in the housing 18 of the energy supply device 12 in a spring-loaded manner. In the U-shaped section and on the outlet side after a sliding guide 19, which is fixed relative to the housing 18, the individual lines 14 are combined in the common line bundle 16, protected in particular by a protective hose 20. The protective hose 20 ends at a holding device 21.The holding device 21 can, as shown, for example, be held at a distance from the arm extension 5a by means of a hose holder 22. The hose holder 22 can be fastened to the fastening flange 11 of the industrial robot 1 by a two-part clamping bracket 23. The energy supply line 17, in particular its protective hose 20, is in the case of the present embodiment provided with several, in particular as shown with two, inventive.

[0062] Equipped with cable protector rings 6.

[0063] In Fig. 2 to Fig. 5, an exemplary line protector ring 6a in a first embodiment for an energy supply line 17 on a robot arm 5 is shown.

[0064] In Fig. 6 to Fig. 9, an exemplary line protector ring 6b in a second embodiment for an energy supply line 17 on a robot arm 5 is shown.

[0065] In Fig. 10 and Fig. 11, an exemplary line protector ring 6c in a third embodiment for an energy supply line 17 on a robot arm 5 is shown.

[0066] The respective line protector ring 6a, 6b, 6c has at least one first partial shell 6.1 and at least one second partial shell 6.2, wherein the partial shells 6.1,

[0067] 6.2 in the assembly to form a first annular body 7.1 of the line protector ring 6a, 6b, 6c, which first annular body 7.1 has an inner jacket wall 7a which forms a contact surface for a hose outer jacket wall 24 of the energy supply line 17 when the line protector ring 6a, 6b, 6c is fastened to the energy supply line 17 in its mounting position.

[0068] The first annular body 7.1 has a circumferential seating surface 7b arranged on its outer shell wall, onto which at least one one-piece, circumferentially closed second annular body

[0069] 7.2 is placed on it. The one-piece, circumferentially closed second annular body 7.2 can in particular be clamped force-fittingly onto the circumferential seating surface 7b of the first annular body 7.1.

[0070] The one-piece, circumferentially closed second ring body 7.2 can in particular be made of an elastomeric material.

[0071] In the case of the second embodiment according to Fig. 6 to Fig. 9, the one-piece, circumferentially closed second annular body 7.2 is shown with a hollow cross-section. In other embodiments not shown, in particular also in the first embodiment according to Fig. 2 to Fig. 5 and in the third embodiment according to Fig. 10 and Fig. 11, the one-piece, circumferentially closed second annular body 7.2 can also be formed with a hollow cross-section.

[0072] As shown in the second embodiment according to Fig. 6 to Fig. 9 and in the third embodiment according to Fig. 10 and Fig. 11, the one-piece, circumferentially closed second annular body 7.2 can have a circular cross-section.

[0073] As shown in the first embodiment according to Fig. 2 to Fig. 5, the one-piece, circumferentially closed second annular body 7.2 can have a circular segment-shaped cross-section.

[0074] Specifically in the cross-sectional view of Fig. 5 it is shown how the inner shell wall of the one-piece, circumferentially closed second annular body 7.2 has at least one recessed groove 25 (in the case of the illustrated embodiment, two grooves 25) and the circumferential seat surface 7b of the outer shell wall of the first annular body 7.1 has an annular projection 26 corresponding to the respective recessed groove 25 of the one-piece, circumferentially closed second annular body 7.2, which, in the assembled state of the one-piece, circumferentially closed second annular body 7.2 on the first annular body 7.1, engages in a form-fitting manner in the recessed groove 25 of the one-piece, circumferentially closed second annular body 7.2.

[0075] In the third embodiment according to Fig. 10 and Fig. 11, the circumferential seating surface 7b of the outer casing wall of the first annular body 7.1 is designed to simultaneously accommodate at least one first one-piece, circumferentially closed second annular body 7.2 and at least one second one-piece, circumferentially closed second annular body 7.2, in particular to accommodate three one-piece, circumferentially closed second annular bodies 7.2. Each of the three one-piece, circumferentially closed second annular bodies 7.2 lies in an associated annular recess of the first annular body 7.1. The annular recesses and the plurality of one-piece, circumferentially closed second annular bodies 7.2 extend parallel to one another over the circumference of the first annular body 7.1. The plurality of one-piece, circumferentially closed second annular bodies 7.2 are arranged axially spaced from one another.

[0076] For example, in the first embodiment according to Fig. 2 to

[0077] Fig. 5, the first ring body 7.1 can have fastening means 27 which are designed for the rotationally and axially fixed clamping of the first ring body 7.1 to the hose outer jacket wall 24 of the energy supply line 17.

[0078] For example, in the second embodiment according to Fig. 6 to Fig. 9, the first annular body 7.1 can have bearing means 28 which are designed for rotatable mounting about a center axis of the first annular body 7.1 and for axially fixing the first annular body 7.1 to the hose outer casing wall 24 of the energy supply line 17.

Claims

Patent claims 1. Cable protector ring for a power supply cable (17) on a robot arm (5), comprising at least one first partial shell (6.1) and at least one second partial shell (6.2), wherein the partial shells (6.1, 6.2) complement one another when assembled to form a first annular body (7.1) of the line protector ring (6), which first annular body (7.1) has an inner casing wall (7a) which surrounds the energy supply line (17) on the circumference when the line protector ring (6) is arranged in its mounted position on the energy supply line (17), characterized in that the first annular body (7.1) has a circumferential seating surface (7b) arranged on its outer casing wall, onto which seating surface at least one one-piece, circumferentially closed second annular body (7.2) is placed.

2. Line protector ring according to claim 1, characterized in that the one-piece, circumferentially closed second ring body (7.2) is clamped force-fittingly onto the circumferential seat surface (7b) of the first ring body (7.1).

3. Line protector ring according to claim 1 or 2, characterized in that the one-piece, circumferentially closed second ring body (7.2) is made of an elastomeric material.

4. Line protector ring according to one of claims 1 to 3, characterized in that the one-piece, circumferentially closed second ring body (7.2) has a hollow cross-section.

5. Line protector ring according to one of claims 1 to 4, characterized in that the one-piece, circumferentially closed second ring body (7.2) has a circular cross-section.

6. Line protector ring according to one of claims 1 to 5, characterized in that the one-piece, circumferentially closed second ring body (7.2) has a circular cross-section.

7. Line protector ring according to claim 6, characterized in that the inner jacket wall of the one-piece, circumferentially closed second ring body (7.2) has at least one recessed groove (25) and the circumferential seating surface (7b) of the outer jacket wall of the first ring body (7.1) has an annular projection (26) corresponding to the recessed groove (25) of the one-piece, circumferentially closed second ring body (7.2), which, in the assembled state of the one-piece, circumferentially closed second ring body (7.2) on the first ring body (7.1), engages in a form-fitting manner in the recessed groove (25) of the one-piece, circumferentially closed second ring body (7.2).

8. Line protector ring according to one of claims 1 to 7, characterized in that the circumferential seat surface (7b) of the outer casing wall of the first ring body (7.1) is designed to simultaneously accommodate at least one first, one-piece, circumferentially closed second annular body (7.2) and at least one second, one-piece, circumferentially closed second annular body (7.2).

9. The line protector ring according to one of claims 1 to 8, characterized in that the first annular body (7.1) has fastening means (27) designed for the rotationally and axially fixed clamping of the first annular body (7.1) to a hose outer casing wall (24) of a power supply line (17).

10. Line protector ring according to one of claims 1 to 9, characterized in that the first ring body (7.1) has bearing means (28) which are designed for rotatable mounting about a center axis of the first ring body (7.1) and for axially fixing the first Ring body (7.1) on a hose outer jacket wall (24) of an energy supply line (17).

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