Return device for returning at least one line

Abstract

The invention relates to a return device (100) for returning at least one line (10), comprising a return element (1), preferably an elongate return element, for returning the at least one line (10), a mounting apparatus (2) for mounting the return element (1), preferably on an articulated arm robot (200), and a guide apparatus (3) for guiding the at least one line (10). The return device (100) is characterized in particular in that the return element (1) is in the form of a resilient movable element. The invention also relates to an articulated arm robot (200) having a return device (100) of this type.

Description

[0001] DESCRIPTION

[0002] Reset device for resetting at least one line

[0003] The invention relates to a reset device for resetting and preferably guiding at least one cable, in particular on an articulated-arm robot. The invention also relates to an articulated-arm robot with such a reset device.

[0004] Articulated-arm robots are used, for example, to guide applicators for applying an application material to components, such as vehicle bodies and / or their attachments. Such applicators are typically connected to lines, such as fluid lines and cables for power and information transmission. Laying the lines along the articulated-arm robots presents a particular challenge. On the one hand, the lines should not restrict the flexibility of the articulated-arm robots. On the other hand, the lines should not create any significant interference contours on the articulated-arm robots, especially not on the robot hand sections.

[0005] Cables can be secured to the articulated-arm robots using clamps, clips, etc. However, this can cause problems due to the robot's movements. The main reason is that the cables must perform compensating movements, as they cannot always be laid in the so-called neutral fiber. Depending on the robot's position, more or less cable length is required for such compensating movements.

[0006] In a simple case, a necessary change in cable length can be made possible by providing a "loop" that then contracts (lengthens) or opens (shortens) depending on the robot position. However, this has the disadvantage that the cable represents an unpredictable interference contour due to its undefined movement. This can lead to an unwanted collision with the application component (e.g., a vehicle body) in application processes with a defined work area.

[0007] Guide systems that only act one-dimensionally and offer only one-dimensional length compensation often represent a compromise, as they typically place high loads on the cables. The main reason for this is the limited ability to compensate for changes in the cable's direction, as such guide systems only act in one direction. This negatively impacts the service life of the cables. In some cases, certain motion combinations of robot axes cannot even be implemented at all.

[0008] WO 2008 037 276 A1, for example, discloses a device for guiding a hose having at least one supply line, comprising a guide element having at least three guide rods, in which the hose can be movably guided against the restoring force of a restoring element. Longitudinally opposite end sides of the guide element are formed by a front retaining ring forming a hose inlet and a rear retaining element, between which the guide rods are clamped. A plurality of lateral outlet openings for the at least one supply line are formed between each two adjacent guide rods. However, the device taught in WO 2008 037 276 A1 generates a relatively large interference contour, particularly on the robot hand section and on the robot arm supporting the robot hand section.In addition, the device is relatively complex in design and typically generates a relatively high tensile load on the hose. Furthermore, the device only generates one-dimensional length compensation, which fundamentally does not correspond to the movement capabilities of a modern articulated-arm robot.

[0009] An object of the invention is to provide an alternative and / or improved resetting device for resetting and in particular guiding at least one line, preferably a resetting device which is advantageously lightweight, has a low structural complexity and / or enables improved accessibility of an applicator relative to an application component (e.g. motor vehicle body and / or attachment therefor), in particular by minimizing an interfering contour along a robot hand section and / or a robot arm, in particular on the robot hand side.

[0010] The object can be achieved by the features of the independent claim. Advantageous developments of the invention are disclosed in the subclaims or emerge from the following description of preferred embodiments of the invention.

[0011] The invention relates to a return device for returning and preferably guiding at least one line. The return device comprises a particularly elastic (preferably elongated, e.g., rod-shaped) return element for returning the at least one line and, for example, for length compensation and / or (particularly multidimensional) direction compensation for the at least one line.

[0012] The return device also comprises a mounting device for mounting (e.g., in a displacement-proof and / or rotation-proof manner) and in particular for supporting the return element, preferably on an articulated arm robot.

[0013] The return device also comprises a guide device for expediently guiding and preferably (in particular at least in sections) receiving the at least one line.

[0014] The mounting device may, for example, comprise a (suitably flat or curved) mounting plate.

[0015] The guide device can, for example, be ring-shaped and / or designed as a clamp construction.

[0016] The at least one line can, for example, be accommodated in the guide device (suitably free of play or with play) and / or be guided through the guide device (suitably free of play or with play).

[0017] The return device is characterized in particular by the fact that the return element is designed as an elastic oscillating element (e.g. oscillating, pivoting and / or bending arm).

[0018] The oscillating element can, for example, be designed to be elastically (e.g. freely) oscillatable, bendable and / or pivotable relative to the mounting device.

[0019] The return element can preferably be elastically deformable in its longitudinal direction. Alternatively or additionally, the return element can be elastically deformable in its transverse direction, preferably freely deformable and / or movable in space in its transverse direction. The return element can thus preferably be designed to be elastically deformable axially and / or laterally. The mounting device preferably forms a pivot base, and the guide device preferably forms a guide head that can swing around the pivot base (in particular transversely and / or laterally to the longitudinal direction of the return element). The guide head can, for example, be designed to swing freely.

[0020] It is possible that the return element serves to compensate for length and / or (e.g. lateral) direction for at least one line.

[0021] The guide device can, for example, be designed as a guide head and / or form a free end of the return device.

[0022] It is possible that the return element extends in particular axially between the mounting device and the guide device and / or that the mounting device and the guide device are formed and preferably mounted on opposite axial ends of the return element.

[0023] The particularly elastic return element can, for example, have a basic position (e.g., original shape) to which it tends to return and / or in which it extends essentially in a straight line. The return element can thus, for example, tend to expediently return to the basic position after the removal or reduction of a force generated by the at least one line.

[0024] It is possible for the return element to be designed to be freely oscillatable (e.g. transversely and / or laterally to the longitudinal direction of the return element).

[0025] It is possible for the return element, and thus expediently the guide device, to be designed to be freely oscillatable (in particular relative to the mounting device and / or elastically) and / or to be designed for multidimensional (in particular elastic) return of the at least one line in several (preferably in all three) spatial directions. Alternatively or additionally, the guide device (in particular by means of the return element) can, for example, be freely movable in space, in particular elastically, and / or be particularly elastically movable in several (preferably in all three) spatial directions.

[0026] The return element is preferably a spring, e.g., a coil spring. The spring can be designed, for example, as a compression and / or tension spring, e.g., as a compression and / or tension coil spring.

[0027] The return element can be elastically deformable (in particular for returning the at least one line), for example in its longitudinal and / or transverse direction.

[0028] It is possible for the guide device to be configured to guide the at least one line past the return element (in particular on the outside), preferably transversely, in particular substantially orthogonally, past the return element. Thus, the return element can preferably be arranged outside the at least one line, e.g., such that the at least one line does not extend, for example, into or through the return element and / or does not extend, for example, into or through the mounting device.

[0029] The guide device can, for example, define a guide axis (in particular a passage axis) for the at least one line, wherein the guide axis can, for example, be aligned transversely, in particular substantially orthogonally, to the longitudinal axis of the return element.

[0030] The restoring element can, for example, be designed to be expediently bent by means of the at least one line (in particular in several spatial directions, preferably in all three spatial directions) and thus subjected to bending stress, so that, for example, a restoring force generated by bending can be generated transversely to the longitudinal extent of the restoring element. Alternatively or additionally, the restoring element can, for example, be designed to be expediently pulled by means of the at least one line and thus subjected to tensile stress, so that, for example, a restoring force generated by tensile force can be generated in the longitudinal extent of the restoring element. Alternatively or additionally, the restoring element can, for example, be designed to be expediently twisted by means of the at least one line and thus subjected to torsion stress, so that, for example, a restoring force generated by torsion can be generated.

[0031] It is thus possible for all rotational, longitudinal, and / or torsional movements of the at least one line to be advantageously enabled and, in particular, controlled exclusively by the return element. This is one of the key advantages of the return device.

[0032] The return element can be designed, in particular, to be elastically bent and / or laterally deflected, for example, by at least (or more than) 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190°, or 200°. Preferably, the return element can be elastically deformed at least up to a semicircular arc or beyond.

[0033] It is possible for the return element to form a cantilever arm mounted on the assembly device and / or to protrude from the assembly device, e.g., in order to be able to space the guide device and thus expediently the at least one line from the assembly device and thus preferably from the articulated-arm robot by means of the longitudinal extension of the return element. As a result, the return element can advantageously form a (expediently sufficiently long) lever arm, preferably for resetting the at least one line and / or for spacing the at least one line from the assembly device and thus in particular from the articulated-arm robot (e.g., the second robot arm described below).

[0034] The return element can, for example, be elastically bendable transversely to the longitudinal axis of the return element and / or laterally elastically deflectable relative to the longitudinal axis of the return element. Alternatively or additionally, the guide device can, for example, define a guide axis for the at least one line, wherein the return element can be designed to be moved (suitably elastically) transversely, in particular substantially orthogonally, to the guide axis of the guide device.

[0035] The guide device can be designed, for example, as a (suitably open or closed) guide ring. The ring can be designed, for example, to be openable and / or closable in order to advantageously accommodate the at least one line.

[0036] The guide device can, for example, be designed to receive (expediently at least in sections) and / or to guide the at least one line through.

[0037] The at least one line can, for example, be accommodated in the guide device without play or with play and / or can be guided through the guide device.

[0038] It is possible for the guide device to be designed to receive and / or mount the at least one line in an axially (in particular substantially freely) displaceable and / or rotatable manner. This can, for example, enable the at least one line to be axially displaced and / or rotated in the guide device. The guide device can thus be designed to limit movements of the at least one line (preferably only) in the radial direction of the at least one line (suitably with or without play), but to allow, for example, axial movements and / or rotational movements of the at least one line.

[0039] The return element can, for example, have a minimum length of essentially 15 cm, 20 cm, 25 cm, 30 cm or 35 cm.

[0040] The at least one line can, for example, comprise at least one fluid line for fluid transmission (e.g., for transmitting an application material and / or air, in particular compressed air) and / or at least one cable, in particular for energy and / or information transmission (e.g., a control cable, a ground cable, a data cable, and / or a cable for power transmission). The at least one line can, for example, be an application hose or comprise an application hose.

[0041] The at least one line can comprise, for example, a guide hose (e.g., a sheathing hose) and / or a guide link chain, preferably for receiving at least one fluid line for fluid transmission (e.g., for transmitting an application material and / or air, in particular compressed air) and / or for receiving at least one cable, preferably for energy and / or information transmission (e.g., a control cable, a ground cable, a data cable, and / or a cable for power transmission).

[0042] The guide hose can, for example, be designed as a corrugated hose.

[0043] It is possible that the return element can be used for return and, for example, for length compensation and / or for (preferably multi-dimensional, in particular lateral) direction compensation for at least two, in particular separate, lines (e.g. guide hoses and / or guide link chains).

[0044] Embodiments with at least two (e.g. arranged substantially parallel or not parallel) return devices as disclosed herein are also possible, the return elements of which may, for example, extend substantially parallel or not parallel to one another.

[0045] It should be noted that the guide device can preferably be designed to accommodate and / or guide the at least one cable (suitably with or without play), e.g., such that the at least one cable can be accommodated in the guide device in an axially displaceable and / or rotatable manner. However, embodiments are also possible in which the at least one cable can be accommodated in the guide device in a displacement-resistant and / or rotationally fixed manner.

[0046] It should be mentioned again that the return element can be an oscillating element that is preferably elastically deformable in its longitudinal and / or transverse direction. The return element can preferably be an oscillating element that is elastically deformable axially and / or laterally.

[0047] The invention also relates to an articulated arm robot, preferably for applying a coating material to a component (e.g. a motor vehicle body and / or an attachment therefor), with at least one return device as disclosed herein.

[0048] The articulated arm robot may comprise, for example, a robot base, a first (e.g., proximal and / or near-robot-base) robot arm, a second (e.g., distal and / or far-robot-base) robot arm, and, for example, a robot hand portion.

[0049] The robot hand section may, for example, comprise at least two, preferably three (in particular rotational) axes of movement.

[0050] The articulated arm robot may, for example, comprise at least 4, at least 5 or at least 6 (preferably rotary) axes of movement.

[0051] It is possible for the reset element to protrude from the articulated-arm robot in order to space the guide device and thus the at least one line from the articulated-arm robot by means of the longitudinal extension of the reset element. As a result, the reset element can advantageously form a (suitably sufficiently long) lever arm, preferably for resetting the at least one line and / or for spacing the at least one line from the assembly device and thus, in particular, the articulated-arm robot.

[0052] It is possible for the second robot arm to be pivotably mounted on the first robot arm about a movement axis by means of a robot joint section, wherein the robot joint section can preferably be conveniently arranged between the first robot arm and the second robot arm. The mounting device can be attached, for example, to the second robot arm and / or to the robot joint section.

[0053] The mounting device and thus the return element can, for example, be pivotable with the second robot arm (preferably around the movement axis of the second robot arm).

[0054] The return element can, for example, protrude from the second robot arm and / or from the robot joint section, in particular in the form of a cantilever.

[0055] The return element can, for example, have a home position (in particular, its original shape) to which it tends to return. Alternatively or additionally, the return element can extend essentially in a straight line in the home position (in particular, its original shape).

[0056] The return element can thus, for example, strive to return to the basic position after the elimination or reduction of a force generated by the at least one line.

[0057] In the basic position, the guide device can, for example, have a minimum distance from the articulated arm robot, in particular from the second robot arm and / or from the robot joint section of at least 15 cm, 20 cm, 25 cm, 30 cm or 35 cm, in order to preferably thereby be able to form a sufficiently long lever arm.

[0058] It is possible for the return element (e.g. in the home position) to be oriented transversely, preferably substantially orthogonally, to the movement axis of the second robot arm, transversely, preferably substantially orthogonally, to the longitudinal axis of the second robot arm, substantially parallel to the longitudinal axis of the first robot arm, and / or in particular, starting from the assembly device, to be oriented away from the articulated arm robot (e.g. from the second robot arm and / or from the first robot arm).

[0059] It is possible for the at least one line to be guided past the return element by means of the guide device (preferably transversely, in particular substantially orthogonally), so that preferably the at least one line does not extend, for example, into or through the return element and / or does not extend into or through the mounting device. The at least one line can, for example, extend through the guide device and / or be expediently accommodated in the guide device.

[0060] The at least one line can, for example, be guided in an arc shape into the guide device and / or be guided in an arc shape out of the guide device.

[0061] The at least one line can be guided (e.g. substantially S-shaped) from the guide device to the second robot arm and preferably be suitably fixed to the second robot arm.

[0062] The at least one line can, for example, be routed in a substantially S-shape from the guide device to the second robot arm. The S-shape can, for example, extend in two or three dimensions. The S-shape can thus, for example, be flat or three-dimensional.

[0063] The return element can, for example, be designed to be elastically bent and / or laterally deflected by, for example, at least (or more than) 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190°, or 200° during operation of the articulated-arm robot. Preferably, the return element can be elastically deformed at least up to a semicircular arc or beyond.

[0064] The return element can, for example, be designed to be bent (in particular elastically) transversely to the longitudinal axis of the second robot arm during operation of the articulated arm robot, and / or to be bent (in particular elastically) transversely to the movement axis of the second robot arm.

[0065] It is possible that movements of the robot hand section cause the return element to be bent, in particular elastically, and / or deflected laterally.

[0066] It is possible, for example, for a movement of the robot hand section to act on the return element, e.g., in the direction of the robot hand section, so that it is preferably bent in the direction of the robot hand section. Alternatively or additionally, a movement of the robot hand section can act on the return element, e.g., in the direction away from the robot hand section, so that it is preferably bent in the direction away from the robot hand section. It is possible for the at least one line to be expediently fixed to the second robot arm and / or to the robot hand section, in particular to advantageously reduce an interfering contour of the articulated-arm robot.

[0067] The at least one line can be fixed to the second robot arm in an axially displaceable or non-displaceable manner and / or in a rotatable or non-rotatable manner, for example by means of at least one holder (e.g. an annular guide element, a clamp and / or a band structure, etc.).

[0068] Alternatively or additionally, the at least one line can be secured by means of at least one holder (e.g.

[0069] B. an annular guide element, a clamp and / or a clip construction, etc.) can be advantageously axially displaceable or fixed against displacement and / or rotatable or non-rotatable on the robot hand section.

[0070] The second robot arm and / or the robot hand section can, for example, be movable relative to the guide device, so that, for example, movements of the second robot arm and / or the robot hand section by means of the at least one line lead to deformations of the return element.

[0071] The first robot arm can, for example, be a proximal robot arm, in particular one close to the robot base, and / or be pivotably mounted on the robot base.

[0072] The second robot arm can, for example, be a distal robot arm, in particular a robot arm remote from the robot base, and / or be pivotally mounted on the first robot arm.

[0073] The second robot arm can conveniently carry the robot hand section.

[0074] The second robot arm is preferably arranged between the first robot arm and the robot hand section.

[0075] It is possible for a clear distance between the at least one line and the second robot arm (e.g., along at least 30%, 40%, 50%, 60%, 70%, or 80% of the longitudinal extent of the second robot arm) to be preferably less than 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm. Alternatively or additionally, a clear distance between the at least one line and the robot hand section (e.g., along at least 30%, 40%, 50%, 60%, 70%, or 80% of the longitudinal extent of the robot hand section) to be preferably less than 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm. The clear distance can, for example, be substantially 0 cm, at least in some sections.

[0076] The robot hand section can, for example, carry an applicator for applying a coating material to a component (e.g., a motor vehicle body and / or an attachment therefor).

[0077] It is possible that the at least one fluid line and / or the at least one cable is expediently connected to the applicator.

[0078] It should be mentioned that the invention can preferably be used for interior application (e.g. interior painting, interior coating or interior sealing, etc.) of motor vehicle bodies, in particular because of the small interference contour that can advantageously be achieved by means of the invention.

[0079] The application material can be, for example, a paint, an adhesive, an insulating material, a sealant or a primer, etc., to name just a few examples.

[0080] The previously described preferred embodiments and features of the invention can be advantageously combined with one another. Other advantageous developments of the invention are disclosed in the subclaims or emerge from the following description of preferred embodiments of the invention in conjunction with the accompanying figures.

[0081] Figures 1 and 2 show different perspective views of a reset device according to an embodiment of the invention,

[0082] Figure 3 shows a perspective view of the return device, in particular to illustrate exemplary degrees of freedom of movement of the return device,

[0083] Figures 4A and 4B show highly schematic views of the return device, in particular to illustrate exemplary bending / transverse deformations of a return element of the return device, Figures 5 and 6 show various perspective views of an articulated arm robot with a return device according to an embodiment of the invention, and

[0084] Figures 7 to 10 show different views of the articulated arm robot, in particular the return device.

[0085] The embodiments shown in the figures partially correspond, with similar or identical parts being provided with the same reference numerals, and for their explanation reference can also be made to the description of other embodiments in order to avoid repetition.

[0086] Figures 1 and 2 show various perspective views of a resetting device 100 for resetting and expediently guiding at least one line 10 according to an embodiment of the invention. The resetting device 100 is preferably used and expediently mounted on an articulated-arm robot 200 (e.g., Figures 5 to 10).

[0087] The line 10 can, for example, comprise a guide hose (e.g., corrugated hose) and / or a guide link chain, in particular for accommodating at least one fluid line for fluid transmission (e.g., application material, air, compressed air, etc.) and / or at least one cable for energy and / or information transmission (e.g., a power cable, a data cable, a control cable, a grounding cable, etc.).

[0088] The reset device 100 comprises an elastic, preferably elongated, reset element 1 for resetting the line 10 and a mounting device 2 for mounting and in particular supporting the reset element 1, e.g., on the articulated-arm robot 200.

[0089] The return device 100 also comprises a (e.g., annular) guide device 3 for guiding and appropriately (e.g., play-free or with play and, in particular, at least in sections) receiving the line 10. The guide device 3 is designed, in particular, for guiding the line 10 through (e.g., play-free or with play).

[0090] The guide device 3 is preferably designed to receive and / or support the line 10 in a manner that is freely axially displaceable and / or rotatable, which, for example, makes it possible for the line 10 to be axially displaced and / or rotated in the guide device 3. The guide device 3 can thus be designed, in particular, to limit movements of the line 10 (preferably only) in the radial direction of the line 10 (suitably with or without play), but, for example, to permit axial movements and / or rotational movements of the line 10.

[0091] The line 10 can, for example, be fixed to at least one movement section (e.g., the second robot arm ra2 and / or the robot hand section rh, as shown, for example, in Figures 5 to 10) which is movable relative to the guide device 3, so that movements of the movement section by means of the line 10 lead to deformations of the return element 1.

[0092] A special feature is that the return element 1 is designed as an oscillating element (e.g. oscillating, bending and / or pivoting arm) that is preferably elastically deformable axially and / or laterally.

[0093] The return element 1 can be, for example, a spring, preferably a spiral spring, for example a compression and / or tension spring.

[0094] The guide device 3 preferably forms a free end of the return device 100. The return element 1 extends axially between the mounting device 2 and the guide device 3, wherein the mounting device 2 and the guide device 3 are formed at opposite axial ends of the return element 1. The return element 1 protrudes from the mounting device 2, in particular in the shape of a cantilever, in order to space the guide device 3 and thus expediently the line 10 from the mounting device 2 and thus, for example, from the articulated-arm robot 200 by means of the longitudinal extension of the return element 1.

[0095] Figure 3 shows a perspective view of the return device 100, in particular to illustrate exemplary degrees of freedom of movement of the return device 100. The degrees of freedom of movement are indicated schematically by the arrows in Figure 3.

[0096] Figures 1 to 3 show the return element 1 in an exemplary basic position (in particular, its original shape). In the basic position, the return element 1 preferably extends essentially in a straight line. The return element 1 strives to expediently return to the basic position, particularly after the elimination or reduction of a force generated by the line 10. A special feature is that the return element 1 is designed to be freely oscillatable and / or is designed for multi-dimensional return of the line 10 in several spatial directions, preferably in all three spatial directions, as is particularly evident from Figure 3. The return element 1 thus advantageously serves not only for one-dimensional length compensation, but also for length compensation and (preferably multi-dimensional, in particular lateral) directional compensation for the line 10.The guide device 3 can be freely movable in space and / or in several (e.g., all three) spatial directions, in particular elastically, by means of the return element 1. In particular, the return element 1 is elastically bendable transversely to its longitudinal axis gl and / or elastically deflectable laterally.

[0097] Preferably, all rotational, longitudinal, and torsional movements of the line 10 can advantageously be enabled and conveniently controlled exclusively by the return element 1. This is one of the key advantages of the return device 100.

[0098] The return element 1 can expediently form a cantilever arm mounted on the mounting device 2 and protrude from the mounting device 2 in order to space the guide device 3 from the mounting device 2 by means of the longitudinal extension of the return element 1.

[0099] The guide device 3 can, for example, define a guide axis g3 for the line 10, wherein the guide axis g3 can be aligned transversely, in particular substantially orthogonally, to the longitudinal axis g1 of the return element 1. The return element 1 can, in particular, be designed to be elastically deformed transversely, in particular substantially orthogonally, to the guide axis g3 of the guide device 3.

[0100] The guide device 3 can thus be designed, for example, to guide the line 10 past the return element 1, preferably transversely, in particular substantially orthogonally, so that the line 10 does not extend, for example, into or through the return element 1 and / or does not extend into or through the mounting device 2.

[0101] Figures 4A and 4B show highly schematic views of the restoring device 100, in particular to illustrate exemplary bending deformations (e.g., transverse deformations) of the restoring element 1 that can be generated by means of the line 10. The bending deformations are indicated schematically by dashed lines in Figures 4A and 4B. Figures 4A and 4B show, for example, that the restoring element 1 expediently forms a particularly elastic cantilever arm and is preferably designed to be freely oscillatable, in particular such that the restoring element 1 can be bent from its basic position by means of the line 10 and thus subjected to bending and / or at least slightly pulled and thus at least slightly tensile stress. It is also possible for the restoring element 1 to be at least slightly twisted by means of the line 10, for example, and thus subjected to torsion.

[0102] Figures 5 and 6 show various perspective views of an exemplary articulated-arm robot 200 with a reset device 100 according to an embodiment of the invention, with Figures 7 to 10 showing corresponding detailed views. The articulated-arm robot 200 can, for example, be a conventional articulated-arm robot.

[0103] The articulated arm robot 200 includes a robot base rb, a first pivotable robot arm ral, a second pivotable robot arm ra2, and a robot hand portion rh.

[0104] The first robot arm ral is a proximal and / or robot base-near robot arm.

[0105] The second robot arm ra2 is a distal and / or robot base-remote robot arm. The second robot arm ra2 is conveniently arranged between the first robot arm ral and the robot hand section rh.

[0106] The robot base rb can be rotated about a movement axis Al.

[0107] The first robot arm ral can be pivotably mounted on the robot base rb about a movement axis A2 by means of a robot joint section J2.

[0108] The second robot arm ra2 can be pivotably mounted on the first robot arm ral about a movement axis A3 by means of a robot joint section J3.

[0109] The robot hand section rh may comprise several axes of movement, preferably three axes of rotation A4, A5 and A6.

[0110] The robot hand section rh can, for example, carry an applicator for applying an application material to a component (e.g., a motor vehicle body and / or an attachment therefor). Axes A1, A2, A3, A4, A5, and / or A6 are preferably rotary axes.

[0111] The cable 10 can be accommodated in an axially displaceable manner by means of the guide device 3. However, embodiments are also possible in which the cable 10 can be accommodated in a non-displaceable manner in the guide device 3.

[0112] The cable 10 can be held by the guide device 3, for example, in a rotationally fixed or rotatable manner.

[0113] The line 10 can be conveniently fixed to the second robot arm ra2 and / or to the robot hand section rh.

[0114] The line 10 can be fixed, for example, by means of at least one holder on the second robot arm ra2, so as to be axially freely displaceable or fixed against displacement and / or rotatable or rotationally fixed.

[0115] The line 10 can be fixed, for example, by means of at least one holder on the robot hand section rh in an axially freely displaceable or non-displaceable and / or rotatable or non-rotatable manner.

[0116] The second robot arm ra2 and / or the robot hand section rh is movable relative to the guide device 3. Thus, movements of the second robot arm ra2 and / or the robot hand section rh by means of the line 10 lead to, in particular, elastic deformations of the return element 1, whereby the return element 1 is forced to leave its (preferably substantially rectilinear) home position.

[0117] The return element 1 expediently protrudes from the articulated arm robot 200 (preferably from the second robot arm ra2 and / or from the robot joint section J3) and is designed to space the guide device 3 and thus the line 10 from the assembly device 2 and thus expediently from the articulated arm robot 200 by means of the longitudinal extent of the return element 1. The return element 1 can form a lever arm that is expediently sufficiently long, in particular for returning the line 10 and for spacing the line 10 from the assembly device 2 and thus from the articulated arm robot 200. The lever arm preferably enables expediently sufficiently large length and direction compensation for the line 10. The line 10 can be guided past the return element 1 by means of the guide device 3, preferably transversely, in particular essentially orthogonally, so that, for example,the line 10 does not extend into or through the return element 1 and / or does not extend into or through the mounting device 2.

[0118] The line 10 can in particular extend through the guide device 3 and can expediently be accommodated in the guide device 3.

[0119] The line 10 can, for example, be guided in an arc shape into the guide device 3 and out of the guide device 3 in an arc shape.

[0120] The line 10 can be guided from the guide device 3 to the second robot arm ra2 and / or to the robot hand section rh. It is possible for the line 10 to be guided from the guide device 3, e.g., two- or three-dimensionally in a substantially S-shape, to the second robot arm ra2, as shown, for example, in Figure 6.

[0121] One advantage achievable by means of the return device 100 is, for example, that the line 10 can be guided, at least in sections, tightly along the second robot arm ra2 and / or along the robot hand section rh in the direction of an applicator 20 for applying an application material to a component, whereby an interfering contour can be advantageously reduced in the area surrounding the applicator 20. The invention can therefore be advantageously used in particular in the interior application (e.g., interior painting, interior coating, or interior sealing, etc.) of motor vehicle bodies.

[0122] In the context of the invention, it is possible, for example, for a clear distance between the line 10 and the second robot arm ra2 (e.g., along at least 30%, 40%, 50%, 60%, or 70% of the longitudinal extent of the second robot arm ra2) to be less than 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm, and / or a clear distance between the line 10 and the robot hand section rh (e.g., along at least 30%, 40%, 50%, 60%, or 70% of the longitudinal extent of the robot hand section rh) to be less than 5 cm, 4 cm, 3 cm, 2 cm, or 1 cm. The clear distance can, for example, be substantially 0 cm, at least in some sections.

[0123] The return element 1 can, for example, be designed to be elastically deflected laterally and thus expediently bent during operation of the articulated arm robot 200 (e.g. by means of movements of the robot hand section rh about the movement axis A4, A5 and / or A6) by a deflection angle (e.g. pivot angle) a of at least 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°, as shown, for example, in Figures 4A and 4B.

[0124] In Figure 4A, for example, the deflection angle a is at least approximately 60°.

[0125] In Figure 4B, for example, the deflection angle a is at least approximately 35°.

[0126] If necessary, the return element 1 can also be elastically deformed, for example, up to a semicircular arc, i.e. a deflection angle a of essentially 180°, or beyond.

[0127] In particular, a movement of the robot hand section rh can act on the return element 1, e.g. in the direction of the robot hand section rh.

[0128] The guide device 3 and thus the cable 10 can preferably move essentially without restriction in three-dimensional space, thereby advantageously exerting the lowest possible load on the cable 10. This advantageously enables complex movement sequences, e.g., of the articulated-arm robot 200.

[0129] The line 10 preferably always behaves in a predictable manner, which can significantly simplify the programming of, for example, the articulated arm robot 200.

[0130] One positive consequence of this is, for example, the reduction of collisions between cable 10 and the application component (e.g., the vehicle body and / or its attachment). This is also made possible by the advantageously implemented tight cable routing, especially in the area of ​​the second robot arm ra2.

[0131] Due to the conveniently freely swinging return element 1, the use of a separate, one-dimensional guide system is not required, which in turn advantageously results in low complexity due to fewer individual components.

[0132] Overall, the robot's interference contour can be significantly reduced by the reset device 100, which optimizes the accessibility of the articulated-arm robot 200, for example, relative to the application component. Another advantage that should not be underestimated is the reduced weight load on the articulated-arm robot 200 made possible by the reset device 100. This reduces the load on the entire system, which ultimately has a positive effect on its service life.

[0133] Due to the advantageously small number of individual components of the reset device 100, the costs for the initial equipment as well as for maintenance are also advantageously reduced.

[0134] By means of the invention, for example, at least one of the following advantages can be achieved:

[0135] 1. The return element 1 and thus preferably the line 10 (e.g. a media guide) can move (in particular elastically) in 3 dimensions.

[0136] 2. Minimum possible load on line 10.

[0137] 3. Complex movement sequences of an articulated arm robot 200 can be implemented in conjunction with line 10.

[0138] 4. The line 10 behaves predictably, which facilitates, for example, the programming of the articulated arm robot 200.

[0139] 5. Reduction or avoidance of collisions between the line 10 and an application component (e.g. motor vehicle body and / or attachment thereto).

[0140] 6. A separate, one-dimensional guidance system is not required.

[0141] 7. Low complexity due to only a few individual components of the reset device 100.

[0142] 8. Reduced additional weight load for the articulated arm robot 200.

[0143] 9. Tight routing of the cable 10, in particular along the second robot arm ra2.

[0144] 10. Minimization of the interference contour through the cable 10 and thus reduction of the robot interference contour.

[0145] 11. Optimized accessibility of the articulated arm robot 200, in particular of the applicator 20, relative to an application component (e.g. motor vehicle body and / or attachment therefor).

[0146] 12. Cost reduction for original equipment and maintenance.

[0147] The invention is not limited to the preferred embodiments described above. Rather, a multitude of variants and modifications are possible, which also utilize the inventive concept and therefore fall within the scope of protection. Furthermore, the invention also claims protection for the subject matter and features of the subclaims, independent of the features and claims referred to. List of reference symbols

[0148] 100 reset device

[0149] 1 return element, preferably oscillating element

[0150] 2 Assembly equipment

[0151] 3 Guide device gl Longitudinal axis of the return element g3 Guide axis of the guide device

[0152] 10 At least one line a deflection angle of the return element

[0153] 10 At least one line

[0154] 200 articulated arm robots ral robot base

[0155] Al movement axis of the robot base ral first robot arm

[0156] A2 Movement axis of the second robot arm ra2 second robot arm

[0157] A3 Movement axis of the second robot arm rh Robot hand section

[0158] A4, A5, A6 movement axes of the robot hand section

[0159] J2 Robot joint section, especially between robot base and first robot arm

[0160] J3 Robot joint section, in particular between the first robot arm and the second

[0161] robot arm

[0162] 20 Applicator

Claims

CLAIMS 1. A resetting device (100) for resetting at least one line (10), comprising: a preferably elongated resetting element (1) for resetting the at least one line (10), a mounting device (2) for mounting the resetting element (1), preferably on an articulated arm robot (200), and a guide device (3) for guiding the at least one line (10), characterized in that the resetting element (1) is designed as an elastic oscillating element.

2. Resetting device (100) according to claim 1, characterized in that the resetting element (1) serves for length compensation and lateral direction compensation for the at least one line (10).

3. Resetting device (100) according to one of the preceding claims, characterized in that the guide device (3) forms a free end of the resetting device (100).

4. Resetting device (100) according to one of the preceding claims, characterized in that the resetting element (1) extends axially between the mounting device (2) and the guide device (3) and / or the mounting device (2) and the guide device (3) are formed at opposite axial ends of the resetting element (1).

5. Restoring device (100) according to one of the preceding claims, characterized in that the restoring element (1) is designed to be freely oscillatable, is designed for multi-dimensional elastic restoring of the at least one line (10), preferably in all three spatial directions, and / or is elastically deformable in its longitudinal and / or transverse direction.

6. Return device (100) according to one of the preceding claims, characterized in that the guide device (3) is freely elastically movable in space by means of the return element (1) relative to the mounting device (2) and / or is elastically movable in several spatial directions.

7. Return device (100) according to one of the preceding claims, characterized in that the return element (1) is a spring, preferably a spiral spring, in particular a tension and / or compression spring.

8. Resetting device (100) according to one of the preceding claims, characterized in that the guide device (3) is designed to guide the at least one line (10) past the resetting element (1), preferably transversely, in particular substantially orthogonally, and / or defines a guide axis (g3) for the at least one line (10) and the guide axis (g3) is aligned transversely, in particular substantially orthogonally, to the longitudinal axis (g1) of the resetting element (1).

9. Restoring device (100) according to one of the preceding claims, characterized in that the restoring element (1) is designed to be bent, pulled and / or twisted by means of the at least one line (10).

10. Resetting device (100) according to one of the preceding claims, characterized in that the resetting element (1) forms a cantilever arm mounted on the mounting device (2) and / or protrudes from the mounting device (2) in order to space the guide device (3) from the mounting device (2) by means of the longitudinal extension of the resetting element (1) and in order to form a lever arm for resetting the at least one line (10) by means of the longitudinal extension of the resetting element (1).

11. Restoring device (100) according to one of the preceding claims, characterized in that the restoring element (1) is elastically bendable transversely to its longitudinal axis (gl) and / or elastically deflectable laterally relative to its longitudinal axis (gl), and / or the guide device (3) defines a guide axis (g3) for the at least one line (10) and the return element (1) is designed to be moved transversely, in particular substantially orthogonally, to the guide axis (g3) of the guide device (3).

12. Resetting device (100) according to one of the preceding claims, characterized in that the guide device (3) is designed as a guide ring, is designed to receive and guide the at least one line (10) through, and / or is designed to receive and / or support the at least one line (10) in an axially displaceable and / or rotatable manner.

13. Reset device (100) according to one of the preceding claims, characterized in that the at least one line (10) comprises a guide hose and / or a guide link chain, in particular for receiving at least one fluid line for fluid transmission and / or at least one cable for energy and / or information transmission.

14. Restoring device (100) according to one of the preceding claims, characterized in that the restoring element (1) is designed to be elastically bent and / or laterally deflected by at least 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°.

15. Articulated arm robot (200), comprising a robot base (rb), a first pivotable robot arm (ral), a second pivotable robot arm (ra2), preferably a robot hand section (rh), and at least one return device (100) according to one of the preceding claims.

16. Articulated arm robot (200) according to claim 15, characterized in that the restoring element (1) protrudes from the articulated arm robot (200) in order to space the guide device (3) and thus the at least one line (10) from the articulated arm robot (200) by means of the longitudinal extension of the restoring element (1) and in order to form a lever arm for restoring the at least one line (10) by means of the longitudinal extension of the restoring element (1).

17. Articulated arm robot (200) according to one of claims 15 to 16, characterized in that the second robot arm (ra2) is pivotally mounted on the first robot arm (ral) about a movement axis (A3) by means of a robot joint section (J3).

18. Articulated arm robot (200) according to one of claims 15 to 17, characterized in that the mounting device (2) and thus the return element (1) can be pivoted together with the second robot arm (ra2).

19. Articulated arm robot (200) according to one of claims 15 to 18, characterized in that the mounting device (2) is attached to the second robot arm (ra2) and / or to the robot joint section (J3).

20. Articulated arm robot (200) according to one of claims 15 to 19, characterized in that the return element (1) has a basic position to which it strives to return and / or in which it extends substantially rectilinearly.

21. Articulated arm robot (200) according to claim 20, characterized in that in the basic position the guide device (3) has a minimum distance from the articulated arm robot (200), in particular from the second robot arm (ra2), of at least 15 cm, 20 cm, 25 cm, 30 cm or 35 cm.

22. Articulated arm robot (200) according to one of claims 15 to 21, characterized in that the return element (1), preferably in the basic position, is aligned transversely, preferably substantially orthogonally, to the movement axis (A3) of the second robot arm (ra2), is aligned transversely, preferably substantially orthogonally, to the longitudinal axis of the second robot arm (ra2), is aligned substantially parallel to the longitudinal axis of the first robot arm (ral), and / or is oriented away from the articulated arm robot (200) starting from the assembly device (2).

23. Articulated arm robot (200) according to one of claims 15 to 22, characterized in that the return element (1) is designed to, during operation of the articulated arm robot (200), to be elastically bent and / or laterally elastically deflected by at least 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, 150°, 160°, 170°, 180°, 190° or 200°, to be bent transversely to the longitudinal axis of the second robot arm (ra2), and / or to be bent transversely to the movement axis (A3) of the second robot arm (ra2).

24. Articulated arm robot (200) according to one of claims 15 to 23, characterized in that the at least one line (10) is fixed to the second robot arm (ra2) and / or to the robot hand section (rh) and preferably the second robot arm (ra2) and / or the robot hand section is movable relative to the guide device (3).

25. Articulated arm robot (200) according to one of claims 15 to 24, characterized in that the at least one line (10) is fixed axially displaceably and / or rotatably by means of at least one holder on the second robot arm (ra2), and / or is fixed displaceably and / or rotatably by means of at least one holder on the robot hand section (rh).

26. Articulated arm robot (200) according to one of claims 15 to 25, characterized in that movements of the robot hand section (rh) bend and / or laterally deflect the restoring element (1).

27. Articulated arm robot (200) according to one of claims 15 to 26, characterized in that a clear distance between the at least one line (10) and the second robot arm (ra2), preferably along at least 30%, 40%, 50%, 60% or 70% of the longitudinal extent of the second robot arm (ra2), is less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm, and / or between the at least one line (10) and the robot hand section (rh), preferably along at least 30%, 40%, 50%, 60% or 70% of the longitudinal extent of the robot hand section (rh), is less than 5 cm, 4 cm, 3 cm, 2 cm or 1 cm.

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