Articulation device, especially for moving the application device

Abstract

The present invention relates to an articulation device (100) for moving, preferably a robot hand (100), in particular an application device (60) with a printhead arrangement (61), comprising a first articulation structure (10) rotatable about a first axis (11) and a line feed-through (300) through which preferably at least one line (301) runs. The articulation device (100) comprises a forced guiding device (400) having a rotating part (403) for forced guiding of the line feed-through (300), the rotating part (400) being rotatable about a central axis (401) of the forced guiding device (400).

Description

[Technical field]

[0001] The present invention relates to an articulated device (e.g. a robot hand), in particular for moving an application device, preferably for mounting on an application robot. The application device and / or application robot is preferably used for painting automotive body parts. [Background technology]

[0002] Robot-guided sprayers (e.g. rotary sprayers) for painting automotive body parts are mounted on actuators, called robot hands or robot hand axes, which for precise path guidance usually comprise several joints connected to each other. Examples of such robot hands (robot hand axes) and such sprayers are disclosed, for example, in US Pat. No. 5,399,433. Sprayers, however, usually have the disadvantage that only a part of the applied paint adheres to the part to be coated, while the rest of the applied paint has to be discarded as so-called overspray, thus limiting the application efficiency. On the other hand, recent developments envisage so-called printheads as application devices, as known from US Pat. No. 5,399,433 and US Pat. No. 5,499,433. In contrast to known sprayers, such printheads do not emit a spray mist of the paint to be applied, so that undesirable overspray does not practically occur.

[0003] In addition to the supply of e.g. electricity, paint, air etc. to the sprayers or printheads, wiring of an electric drive system for e.g. a robot hand is also required, and a supply of air for cooling purposes to the drive system, in particular its motors, and / or flushing of the robot housing with air, e.g. for use in potentially explosive locations, may also be required.

[0004] Line guidance is a central requirement for this, and two different logics in particular have become established on the market to fulfil these requirements: internal line guidance and external line guidance.

[0005] With internal line guidance, the media hoses and cables are guided centrally through the robot hand. This routing requires, among other things, a gear with a hollow shaft and a motor that is offset relative to the gear. When the robot hand moves, the lines (e.g. cables, hoses, etc.) are twisted. Due to this load, care must be taken to ensure that the line dimensions are long enough. Also, the lines must not come into contact with sharp edges or rough surfaces, as this will damage the line.

[0006] With external line guidance, media hoses and cables are guided externally, specifically following the shape of the robot. This routing does not place significant strain on the gear design or the motor mounting. When the robot hand moves, the lines (e.g. cables or hoses) are usually reeled in by reeling devices and, if necessary, support points and run almost freely in the space between them. External line guidance requires a relatively large amount of space and therefore increases the interference contour of the robot and / or robot hand. Furthermore, external lines are unprotected and are easily soiled. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] European Patent Application Publication No. 1632320 [Patent Document 2] DE 102013002412 [Patent Document 3] DE 102010019612 Summary of the Invention [Problem to be solved by the invention]

[0008] It is an object of the present invention to provide an articulated device (e.g. a robotic hand) with improved and / or alternative line guidance, preferably an articulated device for moving an application device which may in particular be equipped with a printhead device.

[0009] This object can be solved by the features of the independent claims. Advantageous developments of the invention are disclosed in the dependent claims or can be taken from the following description of preferred embodiments of the invention. [Means for solving the problem]

[0010] The present invention relates to an articulated device (in particular a robot hand, e.g. a robot hand axis), preferably for moving and / or mounting an application device, e.g. to an application robot. The application device may comprise, for example, a printhead device.

[0011] The articulation device includes a first articulation structure rotatable about a first axis.

[0012] The articulation device may also include a second articulation structure, for example rotatable about a second axis.

[0013] The articulation device may also include a third articulation structure, for example rotatable about a third axis.

[0014] The articulation device comprises a line feed-through (eg a hose or a (eg flexible) tube). The line feed-through is preferably capable of forming a (eg flexible and / or moldable) hollow tube.

[0015] At least one line, for example at least one hose (eg a media hose) and / or at least one cable (eg a control cable (eg a data cable) and / or preferably a cable for power supply) can pass through the line feed-through.

[0016] The articulation device comprises a forced guiding device having a rotating part for forced guiding of the line feedthrough, the rotating part being rotatable around a central axis of the forced guiding device, in particular around a central axis of the rotating part, for example by more than 180° or less than 180°.

[0017] The central axis of the forced guiding device is preferably defined by the central axis of the rotating part.

[0018] The forced guide device can also be of hollow cylindrical shape and in particular comprise an externally arranged cover.

[0019] The rotating part may, for example, be arranged at least partially inside the cover.

[0020] The rotating part is preferably provided with grooves (eg slots) and thus in particular a slotted rotating part can be formed.

[0021] The rotating part can, for example, be configured substantially cylindrical, in particular substantially hollow cylindrical.

[0022] The cover can be configured, for example, to be rotatable or non-rotatable.

[0023] The cover can be made up of, for example, two or more parts, preferably a first part which is expediently non-rotatable and a second part which is expediently rotatable. The second part can be connected to the first articulation structure, for example directly or indirectly, preferably so as to be advantageously rotatable, in particular together with the first articulation structure. Here, for example, a drive of the first articulation structure can be advantageously used to rotate the second part.

[0024] The rotating portion and the hollow cylindrical cover are preferably arranged substantially coaxially.

[0025] The first axis of the articulation structure and the central axis of the forced guide device are preferably arranged substantially coaxially with each other.

[0026] In the context of the present invention, the first axis of the articulated structure and the central axis of the forced guide device may preferably mean one and the same axis.

[0027] In particular, the line feed-through can be conveniently connected indirectly or directly to the first joint structure so that the forced guide device and / or the rotating part can be conveniently driven and rotated by the line feed-through by rotating the first joint structure.

[0028] In a preferred embodiment, the line feed-through can be conveniently connected, indirectly or directly, to the first joint structure in order to rotate the forced guiding device and / or the rotating part, preferably by means of a line feed-through, advantageously at a reduced speed and / or a reduced angle of rotation relative to the first joint structure, for example substantially half the speed and / or substantially half the rotation (e.g. half the angle of rotation), by rotating the first joint structure.

[0029] It should be mentioned, however, that the cover is preferably not driven by the line feedthrough, but rather by the drive of the first articulation structure, if the cover is, for example, configured to be rotatable and rotates together with the first articulation structure.

[0030] Thus, the forced guide device and / or the rotating part may preferably be configured to rotate relative to the first articulated structure at substantially half the speed and / or substantially half the rotations, although embodiments having other reduction ratios are also possible, for example where the line feedthrough is deflected multiple times.

[0031] If the first joint structure rotates, for example, 180°, the forced guiding device and / or the rotating part preferably rotates 90°. If the first joint structure rotates, for example, 90°, the forced guiding device and / or the rotating part preferably rotates 45°. If the first joint structure rotates, for example, 45°, the forced guiding device and / or the rotating part preferably rotates 22.5°.

[0032] The rotation and / or swing range of the first joint structure can consist, for example, of at least one turn (e.g., about 360°, in particular about ±180°), at least two turns (e.g., about 720°), at least two and a half turns (e.g., about 900°), at least three turns (e.g., about 1080°) or at least three and a half turns (e.g., about 1260°).To this end, the line feedthrough can be arranged with multiple windings.

[0033] The articulation device, preferably the positive guide device, may for example comprise a first section and a second section.

[0034] For example, the first section and the second section may be preferably spaced apart from each other in the axial direction of the positive guide device.

[0035] The first section can be configured, for example, to face a coating robot.

[0036] The second section can be configured, for example, to face the applicator and / or the printhead arrangement.

[0037] The line feed-through can preferably be configured to be wound, in particular helically, in the first section and correspondingly unwound, in particular helically, in the second section by rotation of the first articulation structure, and vice versa. Thus, the line feed-through can preferably be wound, in the first section, and correspondingly unwound, in the second section by rotation of the first articulation structure, and when the first articulation structure is rotated in the opposite direction, the line feed-through can be expediently unwound in the first section and correspondingly wound in the second section.

[0038] The line feedthrough can be configured to be wound and unwound in a first section, preferably helically, at least half a turn, at least one, at least one and a half, at least two, at least two and a half, at least three or at least three and a half. Alternatively or additionally, the line feedthrough can be configured to be wound and unwound in a second section, preferably helically, at least half a turn, at least one, at least one and a half, at least two, at least two and a half, at least three or at least three and a half.

[0039] The forced guide device preferably comprises a groove (eg a slot, depression, recess or slot, etc.) in which the line feedthrough can be accommodated expediently and partially, preferably forcefully.

[0040] The groove may conveniently be formed in the rotating portion.

[0041] Thus, the rotor may be a slotted, preferably substantially ring-shaped and / or hollow cylindrical rotor.

[0042] The groove is preferably configured in a substantially arcuate shape, e.g., and may form a deflection arc for deflecting the line feedthrough, preferably between the first section and the second section.

[0043] The groove may, for example, conveniently provide a change of direction, in particular a direction reversal, of the line feedthrough between the first and second sections.

[0044] The groove can be rotatable about a central axis of the forced guide device and / or can be preferably limited by a convex part segment and an opposing concave part segment of the rotation.Alternatively or additionally, the groove can be preferably arranged between the first section and the second section, in particular for connecting a line feedthrough of the first section to a line feedthrough of the second section.

[0045] For example, there may be an arcuate section for convenience of the line feedthrough running in the groove.

[0046] The groove, and preferably the forced guide and / or the rotating part, can thus be rotated around a central axis of the forced guide, for example by a particularly arcuate section of the line feed-through. As already mentioned, the line feed-through and thus the part in the groove is expediently driven by the rotation of the first articulation structure, which causes the rotating part to rotate.

[0047] In particular, the line feedthrough may have a section which conveniently runs in an arc within the groove to enable the transmission of forces from the line feedthrough to the rotating part, whereby the rotating part may be set for rotation about the central axis of the forced guide device.

[0048] The line feedthrough may advantageously be partially slidable through the groove, e.g. partially slidable out of the groove and partially slidable into the groove, particularly when the groove is rotated, to enable winding of the line feedthrough in the first section and unwinding of the line feedthrough in the second section, and vice versa.

[0049] The rotating part and / or the groove are preferably configured to be axially slidable, in particular along the central axis of the positive guide device.

[0050] The rotating portion 403 can slide back and forth along the central axis of the positive guide device, for example, during winding and unwinding of the line feedthrough.

[0051] The cover is preferably non-slidable along the central axis of the positive guide device.

[0052] The line feedthrough can have at least one winding in a first section and at least one winding in a second section.

[0053] The line feedthrough may have at least one winding in a first section, branching off, in particular laterally, from the winding in the first section into the groove, and / or may have at least one winding in a second section, branching off, in particular laterally, from the winding in the second section into the groove.

[0054] It is possible for the groove and / or the line feedthrough within the groove, in particular the arcuate section, to have a passage cross-section with a central axis aligned substantially parallel to the central axis of the forced guide device and / or to have a cord running substantially parallel to the central axis of the forced guide device, which can, for example, allow for deflection and / or reversal of the direction of the line feedthrough, e.g. reversing the direction in which the line feedthrough winds around the central axis of the forced guide device along the line feedthrough.

[0055] The inlet and outlet of the groove can be disposed on a line aligned substantially parallel to the central axis of the forced guide device, for example, and / or can be aligned substantially perpendicular to the central axis of the forced guide device.

[0056] The line feedthroughs in the first section and the second section may extend spirally, preferably in opposite directions, around a central axis of the forced guide device, e.g., such that at least one winding of the line feedthrough in the first section is aligned in the opposite direction relative to at least one winding of the line feedthrough in the second section.

[0057] The windings of the line feedthrough in the first section (e.g., at least a 360° winding) and the windings of the line feedthrough in the second section (e.g., at least a 360° winding) may be aligned in non-parallel winding planes.

[0058] The line feed-through may be non-slidably mounted (e.g. fixed) in particular in the first section, preferably at a first mounting point (e.g. clamping point), and / or may conveniently be non-slidably mounted (e.g. fixed) in the second section, preferably at a second mounting point (e.g. clamping point).

[0059] The second attachment point is preferably rotatable relative to the first attachment point.

[0060] The first attachment point may, for example, be configured to be non-rotatable.

[0061] The first articulation structure can be conveniently connected, indirectly or directly, to the second attachment point for rotating the second attachment point, thereby conveniently driving a line field through and thus a rotating part.

[0062] For example, it is possible that the line feedthrough does not extend completely around the central axis between the first section and the second section.

[0063] The line feedthrough and / or at least one line may feed into a distributor box (eg, an electronic interface), eg, feed into a distributor box.

[0064] The distributor box may preferably be mounted to the first articulated structure or the robot hand in general, and in particular to rotate together with the first articulated structure.

[0065] As already mentioned, the positive guide device may also comprise a cover, preferably having a substantially hollow cylindrical shape.

[0066] The cover is in particular used for expediently covering, at least partially and / or from the outside, the rotating part, the groove, the line feed-through, the arcuate part of the line feed-through, the line feed-through of the first section and / or the line feed-through of the second section, etc. The cover can for example encase one or more of the aforementioned parts, preferably radially outwardly.

[0067] The cover is preferably configured to be removable.

[0068] The cover may be configured, for example, to hinge open and close, or may comprise, for example, two shells that are detachable from one another.

[0069] The cover can be preferably disposed substantially coaxially with the central axis of the forced guide device, and can, for example, encase the rotating part from the outside.

[0070] The cover may be rotatable as part of the positive guide arrangement, for example conveniently with a wheel and / or groove.

[0071] The cover advantageously protects against external influences, is stain-resistant and easy to clean.

[0072] Repairs or replacement of hoses or cables can be easily accomplished outside rather than using internal line guidance by removing the cover for convenience.

[0073] The cover can have, for example, an outer sheath in which a passage opening is formed, from which the line feed-through can conveniently extend outside the cover. The line feed-through can, for example, extend substantially tangentially from the cover. Alternatively or additionally, the line feed-through can, for example, extend substantially parallel to a plane extending perpendicular to the central axis of the forced guide device.

[0074] The articulation device may, for example, comprise an application device.

[0075] The articulation device may conveniently indirectly or directly move the application device and / or the application device may conveniently be connected, indirectly or directly, to a third articulation structure.

[0076] The application device preferably consists of a printhead device, in particular with multiple nozzles for dispensing a coating material (e.g. paint) onto, for example, an automotive body part (e.g. a body and / or mounting parts therefor), or alternatively, the application device can consist of another application device, for example a rotary atomizer, only a single dispensing nozzle, etc.

[0077] The printhead apparatus is particularly useful for providing coatings on automotive body parts that are substantially free of overspray.

[0078] The articulation device may, for example, include a first articulation structure rotatable about a first axis, a second articulation structure rotatable about a second axis, and / or a third articulation structure rotatable about a third axis.

[0079] The articulation device can, for example, have an additional line feedthrough, which can extend (e.g. axially) through the positive guide device, in particular the rotor and / or the cover. Alternatively or additionally, the additional line feedthrough can extend (e.g. axially) through the first articulation structure and / or the third articulation structure.

[0080] For example, the additional line feedthrough in the first articulation structure and / or the third articulation structure may have a passage cross-section of preferably at least 40 mm and up to 90 mm, more preferably for example 70 mm±5 mm.

[0081] Additional line feedthroughs may be provided in addition to the line feedthroughs already described.

[0082] At least one further line, for example at least one hose (e.g. a media hose) and / or at least one cable (e.g. a control cable (e.g. a data cable) and / or a cable, in particular for power supply), can pass through the additional line feed-through.

[0083] The at least one further line may preferably comprise at least one media line (e.g. a media hose) for the application agent supply (e.g. paint supply) and / or for the fluid supply (e.g. air supply, compressed air supply and / or rinsing agent supply) of the application device and / or printhead device. Alternatively or additionally, the at least one further line may comprise at least one cable, e.g. for the power supply and / or for the control of the application device and / or printhead device.

[0084] The at least one further line may also comprise, for example, at least one media return line (e.g., a media hose) for returning fluid (e.g., a coating agent (e.g., paint), air, compressed air and / or a rinsing agent) from the application device and / or the printhead device.

[0085] The coating agent is preferably a paint (eg, a water-based paint, a solvent-based paint, a base paint and / or a clear paint).

[0086] However, the coating may also consist of, for example, a wax (eg, a preservative wax), a thickener, a sealant, an insulating material or an adhesive.

[0087] The articulation device expediently comprises a specifically fixed offset (e.g., an offset) between the first and second axes, whereby the first and second axes are preferably arranged at a fixed offset from each other.

[0088] Additional line feedthroughs may also extend (e.g. axially) through the second articulation structure. At least one further line may also preferably extend through the second articulation structure.

[0089] The first and third axes may, for example, extend in a common plane even when rotating about those axes. The second axis may intersect the common plane, preferably substantially orthogonally. This may advantageously allow the additional line feedthrough and / or the at least one further line to bend (and, for example, also twist) without kinking when the articulation structure rotates about those axes.

[0090] The first joint structure may be an inlet joint structure (e.g., kinematically) of the joint device, and / or the third joint structure may be an outlet joint structure (e.g., kinematically) of the joint device.

[0091] The second articulated structure may preferably be connected (eg kinematically) between the first articulated structure and the third articulated structure.

[0092] The first articulation structure can be equipped with a gear, preferably a strain wave gear. Alternatively or additionally, the second articulation structure can be equipped with a gear, preferably a strain wave gear. The strain wave gear of the first articulation structure and / or the second articulation structure is preferably configured as a reduction strain wave gear so that the required rotational moment can be advantageously generated.

[0093] Strain wave gears (also known for example as tension wave gears, sliding wedge gears or strain wave gears (SWG)) are gears with elastic transmission elements, which are advantageously characterised by a particularly low weight, particularly small dimensions, advantageously a high gear ratio or gear reduction and advantageously high precision.

[0094] A gear in the context of the present invention, for example a strain wave gear, comprises for example at least one of the following:

[0095] a substantially elliptical disk (e.g. a wave generator), which may for example be provided with a central hub and / or a (conveniently thin and / or elliptical) deformable bearing (e.g. ball or roller bearing); the elliptical disk preferably serves as a driving element for the gear; and / or - a deformable cylindrical bush with external teeth (e.g. flexspline), which serves in particular as the output element of a gear; and / or - a (conveniently substantially rigid) cylindrical outer ring with internal teeth (e.g. cylindrical splines) preferably surrounds the elliptical disc and the bushing; and / or The external teeth of the bushing preferably have at least one less tooth than the internal teeth of the outer ring.

[0096] The first joint structure may comprise a drive (e.g. a motor, in particular an electric motor) for rotating the first joint structure about the first axis. The drive of the first joint structure may, for example, be coupled to the first joint structure without its own housing and / or without its own bearings. The drive of the first joint structure may, for example, be configured as a kit motor, which preferably comprises a rotor and a stator. In particular, the first joint structure may form a (e.g. ring-shaped) housing for its drive, for example the housing may preferably enclose the drive in an annular manner. To cool its drive, the first joint structure may expediently have at least one cooling body (e.g. at least one cooling fin or cooling channel, etc.) on the outside and / or be equipped with active cooling (e.g. for cooling by air, in particular compressed air, or for cooling by cooling liquid).

[0097] The second joint structure may also comprise a drive (e.g. a motor, in particular an electric motor) for rotating the second joint structure about the second axis. The drive of the second joint structure may, for example, be coupled to the second joint structure without its own housing and / or without its own bearings. The drive of the second joint structure may, for example, be configured as a kit motor, which preferably comprises a rotor and a stator. In particular, the second joint structure may form a (e.g. ring-shaped) housing for its drive, for example the housing may preferably enclose the drive in an annular manner. To cool its drive, the second joint structure may expediently have at least one cooling body (e.g. at least one cooling fin or cooling channel, etc.) on the outside and / or be equipped with active cooling (e.g. for cooling by air, in particular compressed air, or for cooling by cooling liquid).

[0098] The third joint structure may comprise a drive (e.g. a motor, in particular an electric motor) for rotating the third joint structure about the third axis. The drive of the third joint structure may, for example, be coupled to the third joint structure without its own housing and / or without its own bearings. The drive of the third joint structure may, for example, be configured as a kit motor, which preferably comprises a rotor and a stator. In particular, the third joint structure may form a (e.g. ring-shaped) housing for its drive, for example the housing may preferably enclose the drive in an annular manner. To cool its drive, the third joint structure may expediently have at least one cooling body (e.g. at least one cooling fin or cooling channel, etc.) on the outside and / or be equipped with active cooling (e.g. for cooling by air, in particular compressed air, or for cooling by cooling liquid).

[0099] The drive of the third joint structure can for example comprise a direct drive and / or can for example be configured gearless. The direct drive can for example comprise a direct motor, in particular a torque motor. In the context of the present invention, a direct drive includes for example a drive in which the drive part and the actuating part and / or the output part are conveniently connected directly without gears.

[0100] The direct drive unit achieves high precision without play or hysteresis loss.

[0101] The additional line feedthrough and preferably at least one further line can extend through the drive and / or gear of the first articulated structure. Alternatively or additionally, the additional line feedthrough and preferably at least one further line can extend through the drive and / or gear of the third articulated structure.

[0102] The drive of the first joint structure comprises a motor hollow shaft and / or a gear hollow shaft, through which an additional line feedthrough and for example at least one further line can extend.

[0103] The drive part of the third articulation structure comprises a motor hollow shaft through which an additional line feedthrough and for example at least one further line can extend.

[0104] However, the additional line feedthrough and for example at least one further line preferably extend externally beyond the drive and / or gear of the second articulated structure.

[0105] To know the position, especially the rotational position, of conventional articulated structures, in the prior art, encoders or motor feedback systems on the motor shaft are usually used so that the position of the articulated structure can be indirectly determined. However, the drawback here is that the output position thus determined can be relatively inaccurate, for example due to play, wear, hysteresis, etc. in the drive train.

[0106] In particular, direct measurement and / or detection of the joint structures, e.g. the first joint structure, the second joint structure and / or the third joint structure, and thus preferably the output, advantageously results in a very high rotational position determination accuracy.

[0107] In order to know the position, in particular the rotational position, of the articulating structure (e.g. the first articulating structure, the second articulating structure and / or the third articulating structure) as accurately as possible, in the context of the present invention (e.g. instead of an encoder on the motor shaft or a motor feedback system) a measuring device (e.g. an optical measuring device) can be used, which can measure the rotational position of the articulating structure conveniently directly at the articulating structure itself. This ensures that, for example, wear, play and / or hysteresis in the drive train do not lead to significant deterioration in the position determination. This makes it possible, for example, to ensure a very stiff drive train of the articulating device by post regulation.

[0108] Preferably, for the rotational position measurement of the first articular structure, the second articular structure and / or the third articular structure, in particular high-resolution measuring devices, which for example measure on the output side, can be used respectively.

[0109] The articulation arrangement can, for example, be equipped with a (particularly optical, expediently high-resolution) measuring device for (preferably direct) rotational position measurement of the first articulation structure. The measuring device can, for example, be configured for detecting the first articulation structure directly and / or at the output side of the drive of the first articulation structure for the rotational position measurement, advantageously such that wear, play and / or hysteresis are not taken into account in the position determination.

[0110] The measuring device for the rotational position measurement of the first articular structure can be connected to the first articular structure via a (e.g. substantially play-free and / or preloaded) coupling structure. The coupling structure can, for example, be rotatable and / or comprise meshing teeth. Alternatively or additionally, the coupling structure can, for example, be configured axially parallel or angularly and / or comprise meshing conical gear wheels. The coupling structure can, for example, comprise a gear wheel pair or a bevel wheel stage.

[0111] The articulation arrangement can, for example, have a (particularly optical, expediently high-resolution) measuring device for (preferably direct) rotational position measurement of the second articulation structure. The measuring device can, for example, be configured for detecting the second articulation structure directly and / or at the output side of the drive of the second articulation structure for the rotational position measurement, advantageously such that wear, play and / or hysteresis are not taken into account in the position determination.

[0112] The articulation arrangement may, for example, be equipped with a (particularly optical, expediently high-resolution) measuring device for (preferably direct) rotational position measurement of the third articulation structure. The measuring device may, for example, be configured for detecting the third articulation structure directly and / or at the output side of the drive of the third articulation structure for the rotational position measurement, advantageously such that wear, play and / or hysteresis are not taken into account in the position determination.

[0113] A measuring device for the rotational position measurement of the third articular structure can be attached to the second articular structure and / or connected to the third articular structure via a (e.g. substantially play-free and / or preloaded) coupling structure. The coupling structure can, for example, be rotatable and / or comprise meshing teeth. Alternatively or additionally, the coupling structure can, for example, be configured axially parallel or angularly and / or comprise meshing conical gear wheels. The coupling structure can, for example, comprise a gear wheel pair or a bevel wheel stage.

[0114] The measuring device of the first joint structure, the measuring device of the second joint structure and / or the measuring device of the third joint structure may have a resolution with a tolerance of, for example, 10 arc seconds, preferably 5 arc seconds, and thus are meant to be particularly high-resolution measuring devices.

[0115] The articulation device may, for example, have a neutral position in which the first axis and the third axis are substantially coaxially aligned.

[0116] The offset can be at least 10 mm and up to 100 mm in length, e.g. to prevent the at least one line from kinking upon rotation of the second articulated structure about the second axis, but rather to allow for an appropriate bending radius.

[0117] At least one line of the line feedthrough may, for example, comprise at least one of the following: at least one cable (preferably constructed as a single wire), in particular for the power supply and / or drive control of the second articulated structure, at least one cable (preferably constructed as a single wire), in particular for the power supply and / or drive control of the third articulated structure, at least one cable (preferably constructed as a single conductor) for supplying in particular power to the measuring device of the second articulation structure, at least one cable (preferably constructed as a single conductor) for supplying in particular power to the measuring device of the third articulation structure, at least one cable (preferably constructed as a single conductor) for data transmission from the measuring device of the second joint structure, for example to a control device, at least one cable (preferably constructed as a single conductor) for data transmission from the measuring device of the third joint structure, for example to a control device, at least one cable (preferably configured as a single conductor) for the power supply and / or for the control of the application device, and / or at least one cable (preferably configured as a single conductor) for the power supply and / or for the control of the printhead device, at least one line (preferably configured as a cable, for example a single wire) for supplying power to a damping device for damping the second articulated structure, at least one line (preferably configured as a cable, for example a single wire) for supplying power to a damping device for damping the third articulated structure, and / or - at least one media line for flowing fluids (e.g. application agent, air, e.g. compressed air, and / or rinsing agent).

[0118] The use of one or more solid wires in a line feed-through allows the bend radius, especially the dynamic bend radius, to be significantly smaller than with multi-wire cables, resulting in a more compact design.

[0119] However, the additional line feedthrough and its at least one further line can preferably be used as follows.

[0120] The at least one further line of the additional line feed-through can comprise, for example, at least one media line for a coating agent supply, in particular a paint supply, of the application device and / or the printhead device. Alternatively or additionally, the at least one further line of the additional line feed-through can comprise, for example, at least one media return line for returning a fluid (e.g. coating agent and / or rinsing agent) from the application device and / or the printhead device. Alternatively or additionally, the at least one further line of the additional line feed-through can comprise, in particular, at least one cable for a power supply and / or for control of the application device and / or the printhead device.

[0121] The positive guide device, the rotor and / or the cover can preferably be configured as a hollow cylinder.

[0122] The rotating part is preferably a slotted rotating part, for example a slotted ring or cylinder.

[0123] The articulation device may, for example, conveniently be provided with a conical (and advantageously repeatable) socket-pin arrangement for mastering and / or calibration of the articulation device.

[0124] The present invention also includes a coating robot, preferably a painting robot, having an articulation system as disclosed herein.

[0125] The application robot is preferably a multi-axis articulated arm robot, for example having at least 4, at least 5 or at least 6 axes of movement.

[0126] The third axis may have a rotational speed of greater than 1000° / sec, greater than 2000° / sec, greater than 3000° / sec, greater than 4000° / sec, or greater than 5000° / sec, and / or a torsional stiffness of greater than 1000 Nm / arc minutes, greater than 2000 Nm / arc minutes, greater than 3000 Nm / arc minutes, greater than 4000 Nm / arc minutes, 5000 Nm / arc minutes, or greater than 10000 Nm / arc minutes.

[0127] It should be mentioned that the application device, print head device and / or application robot is in particular used for applying a coating material (e.g. paint) onto automotive body parts.

[0128] The coating agent is preferably a paint.

[0129] The further line feed-through may for example comprise a hose (e.g. a protective and / or guide hose) or a (e.g. partially flexible or substantially rigid) tube (e.g. a protective and / or guide tube), through which optionally at least one further line may pass (advantageously protected and / or guided). The hose or tube may advantageously form a protective cover and / or guide structure for the at least one further line. The further line feed-through may preferably form a (e.g. flexible and / or shape-formable) empty tube.

[0130] It should be mentioned that the first joint structure, the second joint structure and the third joint structure are preferably rotatable relative to each other.

[0131] The winding and unwinding area for the line feedthrough in the first section may be axially limited by a first side wall and a rotating part (e.g., an end face of the rotating part), and alternatively or additionally, the winding and unwinding area for the line feedthrough in the second section may be axially limited by a second side wall and a rotating part (e.g., an end face of the rotating part).

[0132] The second side wall may, for example, be rotatable, in particular rotatable together with the first articulation structure.

[0133] The first side wall is preferably non-rotatable, and therefore in particular non-rotatable together with the positive guiding device and / or the rotating part.

[0134] The first side wall can have, for example, a preferably chamfered contact surface for a line feed-through. Alternatively or additionally, the second side wall can have, for example, a preferably chamfered contact surface for a line feed-through.

[0135] The rotating portion may, for example, be tapered or narrowed in its circumferential direction and / or may be narrower on the concave side of the groove than on the convex side of the groove.

[0136] A preferably cylindrical base part can be provided, for example radially inward, on which the line feedthrough can be conveniently wound and unwound. The base part is preferably stationary and therefore not rotatable, in particular together with the forced guide device. The base part is preferably arranged coaxially with the central axis of the forced guide device.

[0137] The rotating portion is preferably disposed between the first section and the second section and / or between the side walls.

[0138] The line feed-through is preferably a hose or a flexible tube, and is preferably not configured, for example, like a chain and / or preferably does not comprise rigid chain links that are articulated together.

[0139] The third articulation structure may, for example, be at least partially housed within the second articulation structure.

[0140] The first articulated structure may have a range of rotation about the first axis of greater than ±340°, such as substantially or at least ±360°. Alternatively or additionally, the third articulated structure may have a range of rotation about the third axis of greater than ±360°, or greater than ±700°, or substantially ±720°.

[0141] In the context of the present invention, the drive trains can advantageously be constructed, for example, as directly as possible and preferably not coupled to one another. They use, for example, preferably play-free wave gears for the first and / or second joint structures in the toothing in order to conveniently generate the output torques required here. The third joint structure, due to its often low load, can, for example, be completely free of gears. Thus, a direct drive and / or torque drive with maximum stiffness without mechanical play can be realized.

[0142] The preferred embodiments and features of the invention described above can be combined with one another. Advantageous developments of the invention are disclosed in the dependent claims or result from the following description of preferred embodiments of the invention in combination with the attached figures. [Brief description of the drawings]

[0143] [Figure 1] FIG. 1 is a perspective view of an articulation device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is another perspective view of the articulation device. [Diagram 3] FIG. [Figure 4] FIG. [Diagram 5] FIG. 2 is a perspective view showing in particular the line feedthrough and an optional additional line feedthrough. [Figure 6] FIG. 2 is a side view of a line feedthrough and an additional line feedthrough. [Figure 7] FIG. 2 is another side view of the line feedthrough and the additional line feedthrough. [Figure 8] FIG. 1 is a perspective view of an articulation device according to an embodiment of the present invention. [Figure 9] FIG. [Figure 10] FIG. 2 is another perspective view of the articulation device. [Figure 11] FIG. 2 is a perspective view of the articulation device, showing in particular a measuring device for measuring the rotational position of a second articulation structure of the articulation device; [Figure 12] FIG. 2 is a perspective view of the articulation device, showing in particular a measuring device for measuring the rotational position of a third articulation structure of the articulation device; [Figure 13] FIG. 1 shows a schematic diagram of a coating robot with an articulated device according to an embodiment of the present invention. [Figure 14] 1 shows a schematic example of a wave gear. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0144] The preferred embodiments of the present invention described with reference to the drawings correspond in part, and similar or identical parts are given the same reference numerals, and reference can be made to the description of other embodiments to avoid repetition. For convenience of description, not all parts in all drawings are given reference numerals.

[0145] 1-4 show different views of an articulation device 100 according to an embodiment of the present invention. The articulation device 100 is configured as a robot hand (e.g., a robot hand axis) and is used in particular for moving an application device 60 (preferably including a print head device 61) and for mounting to an application robot 200 (FIG. 13).

[0146] The articulated device 100 comprises in particular a first articulated structure 10 rotatable about a first axis 11, a second articulated structure 20 rotatable, for example, about a second axis 21 and a third articulated structure 30, preferably rotatable about a third axis 31, kinematics which will be described in more detail below with particular reference to Figures 8 to 12.

[0147] The articulation device 100 comprises a line feedthrough 300 through which one or more lines 301 can run. The line feedthrough 300 preferably forms a (eg flexible and / or moldable) hollow tube.

[0148] The articulation device 100 comprises a forced guiding device 400 for forced guiding of the line feedthrough 300, the forced guiding device 400 having a rotating part 403, which is rotatable about a central axis 401 of the forced guiding device 400. The first axis 11 and the central axis 401 are preferably arranged substantially coaxially and thus may form one and the same axis. The central axis 401 of the forced guiding device 400 preferably corresponds to the central axis of the rotating part 403.

[0149] The forced guide device 400 is expediently constructed in a cylindrical, in particular hollow cylindrical, shape and preferably comprises a hollow cylindrical cover 404 as shown diagrammatically in Figure 13. Both the rotating part 403 and the cover 404 are preferably constructed substantially hollow cylindrical.

[0150] The cover 404 can be, for example, rotatable or non-rotatable with the first articulation structure 10. It is also possible for the cover 404 to be formed in two or more parts, having a first non-rotatable part and a second rotatable part.

[0151] The line feedthrough 300 is conveniently connected indirectly or directly to the first joint structure 10, so that by rotating the first joint structure 10, in particular the rotating part 403 can be driven by the line feedthrough 300 and rotate relative to the first joint structure 10, in particular at substantially half the speed and / or half the rotation (e.g. half the rotation angle).

[0152] When the first joint structure 10 rotates, for example, 180°, the rotating part 403 preferably rotates 90°. When the first joint structure 10 rotates, for example, 90°, the rotating part 403 preferably rotates 45°. When the first joint structure 10 rotates, for example, 45°, the rotating part 403 preferably rotates 22.5°.

[0153] The joint device 100 comprises a first section T1 and a second section T2, and the first section T1 and the second section T2 are spaced apart from each other in the axial direction of the forced guide device 400.

[0154] The line feedthrough 300 is configured to be spirally wound in the first section T1 and spirally unwound in the second section T2, and vice versa, by rotation of the first articulated structure 10. In other words, the line feedthrough 300 is wound in the first section T1 and correspondingly unwound in the second section T2 by rotation of the first articulated structure 10, and when the first articulated structure 10 is rotated in the opposite direction, the line feedthrough 300 is unwound in the first section T1 and correspondingly wound in the second section T2.

[0155] The line feedthrough 300 can be configured to be spirally wound and unwound at least half a turn, at least one, at least one and a half, at least two, at least two and a half, at least three or at least three and a half times, for example, by rotating the first articulated structure 10. Depending on the number of windings accommodated, the kinematics, and in particular the range of motion of the first articulated structure 10, can be increased.

[0156] The line feedthrough 300 extends spirally in opposite directions in the first section T1 and the second section T2 around the central axis 401 of the forced guide device 400.

[0157] The rotating part 403 comprises a groove 402 in which the line feedthrough 300 is conveniently biased and received.

[0158] The groove 402 is formed in the rotating part 403 in particular in an arc shape in order to form a deflection arc for deflecting the line feedthrough 300. As a result, the line feedthrough 300 with its arc-shaped cross section 302 also runs in an arc shape within the groove 402. The rotating part 403 therefore represents in particular a rotating part 403 that is slotted by the groove 402.

[0159] In particular, this arc-shaped cross-section 302 enables the transmission of force in the circumferential direction of the rotating part 403 from the line feedthrough 300 to the rotating part 403 so that the rotating part 403 can rotate around the central axis 401 of the forced guide device 400.

[0160] The groove 402 is disposed between the first section T1 and the second section T2, and connects the line feedthrough 300 in the first section T1 to the line feedthrough 300 in the second section T2.

[0161] The groove 402 is expediently rotatable together with the rotating portion 403 about a central axis 401 and is bounded by a convex portion segment of the rotating portion 403 and an opposing concave portion segment.

[0162] The groove 402 and the arcuate cross section 302 can have a passage cross section with a central axis CA aligned substantially parallel to the central axis 401, for example. The groove 402 and the arcuate cross section 302 can also have a chord L running substantially parallel to the central axis 401.

[0163] The line feedthrough 300 comprises at least one winding in a first section T1, branching laterally from the winding into a groove 402. The line feedthrough 300 also comprises at least one winding in a second section T2, branching laterally from the winding into a groove 402.

[0164] The winding and unwinding area of ​​the line feedthrough 300 in the first section T1 can be bounded axially by the first side wall 405 and the rotating portion 403, and the winding and unwinding area of ​​the line feedthrough 300 in the second section T2 can be bounded axially by the second side wall 406 and the rotating portion 403.

[0165] The second side wall 406 may, for example, be rotatable, particularly with the first articulation structure 10. The first side wall 405 is preferably non-rotatable.

[0166] The first sidewall 405 may, for example, have a chamfered contact surface for the line feedthrough 300. The second sidewall 406 may also, for example, have a chamfered contact surface for the line feedthrough 300.

[0167] A preferably cylindrical base portion 407 is provided radially inwardly, onto which the line feedthrough 300 can be conveniently wound and unwound. The base portion 407 is preferably stationary and therefore does not rotate, in particular with the forced guide device 400.

[0168] The rotating portion 403 may conveniently be tapered or narrowed, for example so that it is narrower on the concave side of the groove 402 than on the convex side of the groove 402 .

[0169] The rotating part 403, and therefore also the groove 402, is conveniently axially slidable. The rotating part 403 in particular slides back and forth along the central axis 401 when the line feedthrough 300 is wound and unwound.

[0170] The rotating part 403 can slide to the first side, for example, when the line feedthrough 300 is unwound on the first side and wound on the second side, and vice versa. The line feedthrough 300 can, for example, be partially slid through, for example partially slid into, and partially slid out of the groove 402, when the first articulation device 10 and thus the rotating part 403 are rotated together with the groove 402, in order to enable the line feedthrough 300 to be wound in the first section T1 and unwound in the second section T2, and vice versa.

[0171] In the first section T1, the line feedthrough 300 is conveniently non-slidably (e.g., fixedly) mounted at a first attachment point. In the second section T2, the line feedthrough 300 is conveniently non-slidably (e.g., fixedly) mounted at a second attachment point, which is rotatable relative to the first attachment point. The first articulated structure 10 is conveniently connected directly or indirectly to the second attachment point for rotating the second attachment point and thus the line feedthrough 300.

[0172] As already mentioned, the line feedthrough 300 is connected to the first joint structure 10 and by rotating the first joint structure 10, in particular the rotating part 403 can be driven and rotated by the line feedthrough 300, in particular at a substantially reduced (e.g. half) speed and / or reduced (e.g. half) rotation relative to the first joint structure 10.

[0173] Thus, the rotating part 402 preferably rotates with the first joint structure 10 at half the speed and / or half the rotation, or generally at a reduced speed and / or reduced rotation angle (e.g., reduced rotation).

[0174] The principle of pulley blocks, especially a pulley block with a fixed pulley and a movable pulley, is used as an analogy to help understand how they work. The length of the rope that pulls the rope is divided by the movable pulley, and the movable pulley is moved by half the length of the rope that pulls the rope.

[0175] As already mentioned, the forced guide device 400 conveniently comprises a hollow cylindrical cover 404. The cover 404 is preferably used to externally cover the rotating part 403, the arcuate cross section 302, the line feedthrough 300 in the first section T1 and / or the line feedthrough 300 in the second section T2. ​​The cover 404 is arranged coaxially with the rotating part 403.

[0176] The cover 404 may have an outer sheath with a passage opening formed therein through which the line feedthrough 300 extends.

[0177] 5 to 7 show different views of, among other things, the line feedthrough 300 and the optional additional line feedthrough 40. FIG.

[0178] The line feedthrough 300 has at least one line 301, shown diagrammatically.

[0179] At least one further line 41 , shown diagrammatically, passes through the additional line feed-through 40 .

[0180] At least one line 301 of the line feedthrough 300 may in particular comprise at least one of the following: at least one cable, in particular for powering and / or controlling the drive of the second articulated structure 20 and / or the drive of the third articulated structure 30, at least one cable, in particular for supplying power to a measuring device 22 for measuring the rotational position of the second articulated structure 20 (FIG. 11) and / or a measuring device 32 for measuring the rotational position of the third articulated structure 30 (FIG. 12), at least one cable for data transmission from the measuring device 22 of the second articulated structure 20 and / or the measuring device 32 of the third articulated structure 30, at least one cable, in particular for the power supply and / or for the control of the application device 60 and / or the printhead device 61, and / or - at least one medium line for flowing fluids (e.g. application agent, rinsing agent and / or air, in particular compressed air).

[0181] At least one line 301 and / or line feedthrough 300 is preferably connected to a distributor box 350, which can be mounted to the first articulated structure 10, in particular so as to rotate together with the first articulated structure 10.

[0182] The at least one further line 41 of the additional line feedthrough 40 may in particular comprise at least one of the following: at least one medium line for the application agent supply and / or fluid supply (e.g. air, in particular compressed air, and / or rinsing agent, etc.) of the application device 60 and / or the printhead device 61, at least one media return line for returning fluid from the application device 60 and / or the printhead device 61; and / or At least one cable, especially for the power supply and / or control of the application device 60 and / or the printhead device 61.

[0183] In a particularly preferred embodiment, it is possible for in particular control cables, power supply cables and optionally data transmission cables to pass through the line feed-through 300, and for one or more medium lines, in particular for fluids (e.g. application agents, rinsing agents and / or compressed air), to pass through the line feed-through 40. This advantageously makes it possible to separate the cables and the medium lines.

[0184] 8 to 12 are different views of the previously described articulation device 100, without the line feedthrough 300 and the positive guide device 400 being shown.

[0185] The joint device 100 includes a first joint structure 10 rotatable about a first axis 11, a second joint structure 20 rotatable about a second axis 21, and a third joint structure 30 rotatable about a third axis 31. Thus, the first joint structure 10, the second joint structure 20, and the third joint structure 30 are rotatable relative to one another.

[0186] The first joint structure 10 may preferably be a kinematic inlet joint structure of the joint device 100, and the third joint structure 30 may, in particular, be a kinematic outlet joint structure of the joint device 100.

[0187] The second joint structure 20 is preferably kinematically connected between the first joint structure 10 and the third joint structure 30, and can, for example, form a connection structure between the first joint structure 10 and the third joint structure 30.

[0188] The articulation device 100 may comprise an application device 60, which is only partially visible in FIG. 9, and which can be expediently moved directly or indirectly by the articulation device 100, in particular by the third articulation structure 30. The application device 60 may in particular comprise a printhead device 61 (FIG. 13), which may comprise a number of nozzles for ejecting an application agent (e.g. paint) onto an automotive body part (e.g. a body and / or mounting parts therefor). The application agent may be ejected from the nozzles, for example in the form of a continuous application agent jet and / or, for example in the form of application agent droplets. The printhead device 61 is used in particular for coating, in particular painting, substantially free of overspray.

[0189] The articulation device 100 may comprise an optional additional line feed-through 40 extending through the forced guide device 400, through the first articulation structure 10 and, for example, through the third articulation structure 30, preferably through which at least one further optional line 41 passes, for example for the application device 60 and / or for the printhead device 61.

[0190] The additional line feed-through 40 may, for example, comprise a hose or a (e.g. partially flexible) tube, through which the at least one further line 41 can run, preferably in a protected and guided manner. The hose or tube may thus form a protective cover and / or a guiding structure for the at least one further line 41.

[0191] The articulation device 100 also comprises an offset 50 fixed between the first axis 11 and the second axis 21. The offset 50 may for example be at least 10 mm long and up to 100 mm long.

[0192] The at least one further line 41 running through the additional line feed-through 40 preferably serves for the application agent supply, and thus in particular for the paint supply of the printhead arrangement 61. However, the at least one further line 41 can also serve, for example, for the power supply, for control and / or for the fluid supply (e.g. air, compressed air and / or rinsing / cleaning agents) of the application device 60 and / or the printhead arrangement 61. The at least one further line 41 can also comprise, for example, a data cable, capable of transmitting data to the printhead arrangement 61 and / or the application device 60.

[0193] An additional line feedthrough 40 may also preferably extend through the second articulation structure 20 .

[0194] The first axis 21 and the third axis 31 may extend in a common plane.

[0195] The second axis 21 intersects the common plane, preferably substantially orthogonally.

[0196] FIG. 9 shows the articulation device 100 in a neutral position in which the first shaft 11 and the third shaft 31 are substantially coaxially arranged.

[0197] To rotate the first articulated structure 10 about the first axis 11, the first articulated structure 10 comprises a drive. The drive comprises in particular a drive motor (e.g. an electric motor) and is preferably coupled to the first articulated structure 10 without its own housing and / or without its own bearings. The drive of the first articulated structure 10 can thus be configured, for example, as a kit motor. The drive of the first articulated structure 10 can comprise a motor hollow shaft, for example a gear hollow shaft, through which the additional line feedthrough 40 and at least one further line 41 can extend.

[0198] To rotate the second articulated structure 20 about the second axis 21, the second articulated structure 20 comprises a drive. The drive comprises in particular a drive motor (e.g. an electric motor) and is preferably coupled to the second articulated structure 20 without its own housing and / or without its own bearings. The drive of the second articulated structure 20 can thus be configured, for example, as a kit motor. The additional line feedthrough 40 and at least one further line 41 conveniently extend outside beyond the drive and / or gears of the second articulated structure 20.

[0199] To rotate the third articulated structure 30 about the third axis 31, the third articulated structure 30 comprises a drive. The drive comprises in particular a drive motor (e.g. an electric motor) and is preferably coupled to the third articulated structure 30 without its own housing and / or without its own bearings. The drive of the third articulated structure 30 can thus be configured, for example, as a kit motor. The drive of the third articulated structure 30 comprises a motor hollow shaft through which the additional line feedthrough 40 and at least one further line 41 can extend.

[0200] Therefore, it is particularly preferred that all three articulated structures 10, 20 and 30 can be driven via motors which can be integrated directly into each articulated structure 10, 20 and 30 without their own housing, whereby each of the articulated structures 10, 20 and 30 can conveniently form a ring-shaped housing for their drive.

[0201] The drive of the third articulated structure 30 may, for example, comprise a direct motor or a torque motor and / or be configured, for example, gearless. Direct motor, torque motor and / or gearless drives in particular include drives in which the drive part and the working part and / or the output part are expediently connected directly, without gears.

[0202] The first articulation structure 10 may comprise a gear, preferably a strain wave gear, substantially free of play. The second articulation structure 20 may also comprise a gear, preferably a strain wave gear, substantially free of play.

[0203] Strain wave gears (also known as tension wave gears, sliding wedge gears or strain wave gears (SWG)) are gears with elastic transmission elements and are advantageously characterized by a high gear ratio and high stiffness.

[0204] A wave gear that can be preferably used in the first joint structure 10 and / or the second joint structure 20 will be described below with reference to FIG.

[0205] The strain wave gear comprises in particular an elliptical disc 71, a deformable substantially cylindrical bush 72 with external teeth and a substantially cylindrical outer ring 73 with internal teeth.

[0206] The elliptical disk 71 (e.g. a wave generator) may for example comprise a central hub and a (expediently thin and / or elliptical) deformable bearing (e.g. a ball or roller bearing). The elliptical disk 71 preferably serves as the drive element of the gears. A cylindrical bush 72 (e.g. a flexspline) serves in particular as the output element of the gears. An outer ring 73 (e.g. a circular spline) may preferably surround the elliptical disk 71 and the bush 72 and / or form a housing for the elliptical disk 71 and the bush 72.

[0207] FIG. 11 is a perspective view of the articulation device 100, and in particular the measurement device 22 is shown in FIG.

[0208] The measuring device 22 is used for a (preferably direct) rotational position measurement of the second articulated structure 20, which can for example be configured to detect the second articulated structure 20 directly and / or to detect it on the output side from the drive of the second articulated structure 20 (for example optically, by means of spatial spacing, by means of physical engagement, contact or non-contact, etc.) for the rotational position measurement, thereby advantageously ensuring that wear, play and / or hysteresis in the drive train do not lead to any or significant deterioration in the accuracy of the position determination.

[0209] FIG. 12 is a perspective view of the articulation device 100, and in particular the measurement device 32 is shown in FIG.

[0210] The measuring device 32 is used for (preferably direct) rotational position measurement of the third articulated structure 30, which can for example be configured to detect the third articulated structure 30 directly and / or to detect it on the output side from the drive of the third articulated structure 30 (for example optically, by means of spatial spacing, by means of physical engagement, contact or non-contact, etc.) for the rotational position measurement, thereby advantageously ensuring that wear, play and / or hysteresis in the drive train do not lead to any or significant deterioration in the accuracy of the position determination.

[0211] For example, as shown in Fig. 12, a measuring device 32 for the rotational position measurement of the third articulated structure 30 can be mounted, for example, on the second articulated structure 20 and connected to the third articulated structure 30 via a preferably substantially play-free, preloaded linkage structure 33, preferably a gear wheel pair and / or a bevel gear stage, in order to thus enable a direct and / or output-side rotational position measurement. The linkage structure 33 is preferably configured angularly, for example as a bevel wheel stage, but axially parallel linkage structures 33 are also possible. In particular, the linkage structure 33 can comprise meshing (for example conical) gear wheels.

[0212] Rotational position measurement of the first joint structure 10 can be achieved in the same manner as for the second joint structure 20 and the third joint structure 30.

[0213] Thus, a measuring device can be provided for the (preferably direct) rotational position measurement of the first articulated structure 10, which can for example be configured to detect the first articulated structure 10 directly and / or to detect it on the output side from the drive of the first articulated structure 10 (for example optically, by means of spatial spacing, by means of physical engagement, contact or non-contact, etc.) for the rotational position measurement, thereby advantageously ensuring that wear, play and / or hysteresis in the drive train do not lead to any or significant deterioration in the accuracy of the position determination.

[0214] The measuring device for the rotational position measurement of the first articulated structure 10 is preferably connected to the first articulated structure 10 via a substantially play-free, preloaded coupling structure, preferably a gear wheel pair and / or a bevel wheel stage, which may enable direct and / or output-side rotational position measurement. The coupling structure is preferably configured axially parallel, for example by meshing (e.g. conical) gear wheels, although angled coupling structures are also possible.

[0215] The measuring device may, as mentioned above, for example be an optical, expediently high-resolution measuring device, in particular a measuring device having a resolution with a tolerance of 10 or 5 arcsec (arcsec = arc second), however, the measuring device is not limited to optical measuring devices and may include any other suitable measuring technique.

[0216] FIG. 13 is a schematic diagram of a coating robot 200 equipped with an articulated device 100.

[0217] The coating robot 200 is preferably a painting robot, and moves the coating device 60 by the articulation device 100. The coating device 60 preferably includes a print head device 61 having multiple nozzles for discharging a coating agent (e.g., paint). However, the coating device 60 may also be configured with an applicator other than a print head, such as a sprayer or only one nozzle.

[0218] Substantial advantages include, for example: - by means of the line feedthrough 300, a decentralized but compact line guidance is provided, in particular outside the first axis 11, - combination option with a central line feedthrough 40, for example to increase the capacity and / or separation of media lines (e.g. for application agents, air and / or rinse agents) and electrical cables; -A large rotation range is achieved with a short axial installation space. - Routing single wires instead of multi-wire cables allows for a more compact design - mechanical protection and / or protection from dirt and easy cleaning by the cover 404 - Good accessibility for repair and maintenance work (replacing hoses and cables).

[0219] The present invention is not limited to the above-mentioned preferred embodiment. Rather, numerous variations and modifications utilizing the concept of the present invention are possible and therefore fall within the scope of protection. Moreover, the present invention also claims protection for the features of the subject and dependent claims, independently of the features and claims mentioned.

[0220] (Additional Note) (Appendix 1) An articulated device (100), preferably a robotic hand (100), in particular an articulated device (100) for moving an application device (60) comprising a printhead device (61), a first joint structure (10) rotatable around a first axis (11); a line feedthrough (300) through which preferably at least one line (301) passes, The joint device (100) is provided with a forced guide device (400) and has a rotating part (403) for performing forced guiding of the line feedthrough (300), and the rotating part (403) is rotatable around a central axis (401) of the forced guide device (400). Articulation device (100).

[0221] (Appendix 2) The forced guide device (400) is preferably characterized by comprising a hollow cylindrical cover (404), 2. The articulation device (100) of claim 1.

[0222] (Appendix 3) The cover (404) is is rotatable together with the first joint structure (10); or Not rotatable, or The rotor is formed in two or more separate parts, and is characterized by having a first non-rotatable part and a second rotatable part. 3. The articulation device (100) of claim 2.

[0223] (Appendix 4) the first axis (11) of the first joint structure (10) and the central axis (401) of the forced guide device (400) are substantially coaxially aligned with each other, 4. The articulation device (100) of any one of claims 1 to 3.

[0224] (Appendix 5) characterized in that the line feedthrough (300) is connected to the first joint structure (10) in order to rotate the first joint structure (10), in particular to drive the forced guide device (400) and / or the rotating part (403) to rotate by the line feedthrough (300), 5. The articulation device (100) of any one of claims 1 to 4.

[0225] (Appendix 6) the line feedthrough (300) is connected to the first joint structure (10) in order to rotate the forced guide device (400) and / or the rotating part (403) by the land feedthrough (300) at a reduced speed and / or a reduced rotation angle relative to the first joint structure (10), preferably at substantially half the speed and / or substantially half the rotation, by rotating the first joint structure (10). 6. The articulation device (100) of any one of claims 1 to 5.

[0226] (Appendix 7) The present invention is characterized in that it comprises a first section (T1) and a second section (T2), and preferably, the first section (T1) and the second section (T2) are arranged at a distance from each other in the axial direction of the forced guide device (400). 7. The articulation device (100) of any one of claims 1 to 6.

[0227] (Appendix 8) the line feedthrough (300) is configured such that, by rotating the first joint structure (10) in a first rotational direction, the line feedthrough (300) is unwound in the first section (T1) and wound up in the second section (T2), and, by rotating the first joint structure (10) in a second rotational direction opposite to the first rotational direction, the line feedthrough (300) is unwound in the second section (T2) and wound up in the first section (T1). 8. The articulation device (100) of claim 7.

[0228] (Appendix 9) The line feedthrough (300) is In the first section (T1), the wire is wound and unwound, preferably spirally, at least half a turn, at least 1 turn, at least 1.5 turns, or at least 2 turns, and / or characterized in that in the second section (T2) the wire is wound and unwound at least half a turn, at least 1 turn, at least 1.5 turns, or at least 2 turns, preferably spirally, 9. The articulation device (100) according to claim 7 or 8.

[0229] (Appendix 10) The rotating part (403) has a groove (402) in which the line feedthrough (300) is received and preferably forcibly guided. 10. The articulation device (100) of any one of claims 1 to 9.

[0230] (Appendix 11) The groove (402) is arc-shaped, preferably forming a deflection arc for deflecting the line feedthrough (300). 11. The articulation device (100) of claim 10.

[0231] (Appendix 12) The groove (402) is rotatable about the central axis (401) of the forced guide device (400); and / or and / or separated by a convex portion segment and an opposing concave portion segment; A line feedthrough (300) is arranged between a first section (T1) and a second section (T2), and in particular connects the line feedthrough (300) of the first section (T1) with the line feedthrough (300) of the second section (T2), 12. The articulation device (100) according to claim 10 or 11.

[0232] (Appendix 13) the line feedthrough (300) has an arcuate cross section (302) running in particular in an arcuate manner in the groove (402) so as to enable the transmission of forces from the line feedthrough (300) to the rotating part (403) and so as to set the rotating part (403) in rotation about the central axis (401) of the forced guide device (400), 13. The articulation device (100) of any one of claims 10 to 12.

[0233] (Appendix 14) In particular, the line feedthrough (300) is capable of partially sliding in the groove (402) when the groove (402) and / or the first joint structure (10) are rotated. 14. The articulation device (100) of any one of claims 10 to 13.

[0234] (Appendix 15) The rotating part (403) is configured to be slidable in the axial direction. 15. The articulation device (100) of any one of claims 1 to 14.

[0235] (Appendix 16) The groove (402) is and / or having a passage cross-section whose central axis (CA) is arranged substantially parallel to said central axis (401) of said forced guide device (400); The forced guide device (400) has a cord (L) extending substantially parallel to the central axis (401), 16. The articulation device (100) of any one of claims 10 to 15.

[0236] (Appendix 17) The line feedthrough (300) extends in a first section (T1) and a second section (T2) in opposite spiral directions around the central axis (401) of the forced guide device (400). 17. The articulation device (100) of any one of claims 7 to 16.

[0237] (Appendix 18) the line feedthrough (300) is attached to a first attachment point in a first section (T1) and to a second attachment point in a second section (T2), the second attachment point being rotatable relative to the first attachment point, 18. The articulation device (100) of any one of claims 7 to 17.

[0238] (Appendix 19) the first joint structure (10) is connected to the second attachment point so as to rotate the second attachment point, 19. The articulation device (100) of claim 18.

[0239] (Appendix 20) characterised in that the line feedthrough (300) and / or at least one of the lines (301) are connected to a distributor box (350), preferably the distributor box (350) being mounted on the first articulated structure (10), in particular so as to rotate together with the first articulated structure (10), 20. The articulation device (100) of any one of claims 1 to 19.

[0240] (Appendix 21) a cover (404) configured to externally cover the groove (402), the rotating portion (403), the arc-shaped cross section (302) of the line feedthrough (300), the line feedthrough (300) of the first section (T1) and / or the line feedthrough (300) of the second section (T2); 21. The articulation device (100) of any one of claims 2 to 20.

[0241] (Appendix 22) The cover (404) has an outer sheath, a passage opening is formed in the outer sheath, and the line feedthrough (300) extends outward from the passage opening. 22. The articulation device (100) of any one of claims 2 to 21.

[0242] (Appendix 23) a cover (404) is configured to be removable and / or is arranged coaxially with the central axis (401) of the forced guide device (400); 23. The articulation device (100) of any one of claims 2 to 22.

[0243] (Appendix 24) The rotating part (403) is Circumferentially tapered or narrowed; and / or the concave side of the groove (402) is narrower than the convex side of the groove (402), 24. The articulation device (100) of any one of claims 1 to 23.

[0244] (Appendix 25) a winding and unwinding area for the line feedthrough (300) in a first section (T1) is axially limited by a first side wall (405) and the rotating part (403), and a winding and unwinding area for the line feedthrough (300) in a second section (T2) is axially limited by a second side wall (406) and the rotating part (403), 25. The articulation device (100) of any one of claims 7 to 24.

[0245] (Appendix 26) The line feedthrough (300) is configured as a hose or flexible tube. 26. The articulation device (100) of any one of claims 1 to 25.

[0246] (Appendix 27) The articulation device (100) comprises an application device (60), preferably characterized in that the application device (60) comprises a printhead device (61) having a plurality of nozzles for ejecting a coating agent, 27. The articulation device (100) of any one of claims 1 to 26.

[0247] (Appendix 28) The articulation device (100) further comprises: a second joint structure (20) rotatable around a second axis (21); The present invention is characterized in that it includes a third joint structure (30) that is rotatable around a third axis (31). 28. The articulation device (100) of any one of claims 1 to 27.

[0248] (Appendix 29) the articulation device (100) is preferably characterized in that it has an additional line feed-through (40) through which at least one further line (41) runs, in particular extending axially through the rotating part (403), the first articulation structure (10) and / or the third articulation structure (30), 29. The articulation device (100) of any one of claims 1 to 28.

[0249] (Appendix 30) an offset (50) is formed between the first shaft (11) and the second shaft (21), and the first shaft (11) and the second shaft (21) are disposed offset from each other. 30. The articulation device (100) of claim 28 or 29.

[0250] (Appendix 31) characterised in that the first axis (11) and the third axis (31) extend in a common plane and the second axis (21) intersects the common plane, preferably substantially perpendicularly. 31. The articulation device (100) of any one of claims 28 to 30.

[0251] (Appendix 32) the first articulated structure (10) comprises a drive for rotating the first articulated structure (10) about the first axis (11); and / or the second articulated structure (20) comprises a drive for rotating the second articulated structure (20) about a second axis (21); and / or the third articulated structure (30) is characterized in that it comprises a drive configured as a gearless and / or direct drive for rotating the third articulated structure (30) about a third axis (31); 32. The articulation device (100) of any one of claims 1 to 31.

[0252] (Appendix 33) the drive of the first articulated structure (10) is connected to the first articulated structure (10) without its own housing and / or without its own bearings; and / or the drive part of the second articulated structure (20) is connected to the second articulated structure (20) without its own housing and / or without its own bearings; and / or characterised in that the drive of the third joint structure (30) is connected to the third joint structure (30) without its own housing and / or without its own bearing, 33. The articulation device (100) of claim 32.

[0253] (Appendix 34) said first articulated structure (10) forms a housing for its drive, and / or said second articulated structure (20) forms a housing for its drive, and / or the third joint structure (30) forms a housing for its drive, 34. The articulation device (100) of claim 32 or 33.

[0254] (Appendix 35) and / or having a measuring device for measuring the rotational position of the first articulated structure (10); a measuring device (22) for measuring the rotational position of the second articulated structure (20), and / or a measuring device (32) for measuring the rotational position of the third joint structure (30), 35. The articulation device (100) of any one of claims 1 to 34.

[0255] (Appendix 36) At least one of the lines (301) of the line feedthrough (300) is at least one cable for power supply and / or control of the drive of the second articulated structure (20) and / or the drive of the third articulated structure (30); at least one cable for supplying power to the measuring device (22) of the second articulated structure (20) and / or the measuring device (32) of the third articulated structure (30); at least one cable for data transmission from the measuring device (22) of the second articulated structure (20) and / or the measuring device (32) of the third articulated structure (30); at least one line for the power supply of a braking device for braking the second articulated structure (20) and / or for the power supply of a braking device for braking the third articulated structure (30); characterized by comprising at least one of 37. The articulation device (100) of any one of claims 1 to 36.

[0256] (Appendix 37) One or more of the cables are constructed as a single wire. 37. The articulation device (100) of claim 36.

[0257] (Appendix 38) At least one further line (41) of the additional line feedthrough (40) at least one media line for application material supply and / or fluid supply to the application device (60) and / or the printhead device (61); at least one media return line for returning fluid from the application device (60) and / or the printhead device (61); and / or at least one cable for power supply and / or control of the application device (60) and / or the printhead device (61); characterized by comprising at least one of 38. The articulation device (100) of any one of claims 29 to 37.

[0258] (Appendix 39) A coating robot (200), preferably a painting robot, comprising an articulated device (100) according to any one of claims 1 to 38. [Explanation of symbols]

[0259] 10 First joint structure 11 First axis 20 Second joint structure 21 Second Axis 22 Measuring device for second joint structure 30 The third joint structure 31 The third axis 32 Measuring device for the third joint structure 33 Connection structure 40 additional line feedthroughs 41 at least one further line, in particular an additional line, passing through the feedthrough 59 Offset 60 Coating Equipment 61 Print head device 71 Disc 72 Bush 73 Outer Ring S1 side S2 side 100 Articulated device, preferably a robotic hand 200 Coating robot, preferably a painting robot 300 Line Feedthrough 301 At least one line, preferably passing through a line feedthrough 302 Cross section of line feedthrough, preferably arcuate cross section within groove 350 distributor box 400 Forced Guidance Device 401 Axes, in particular the axes of the rotors and / or the forced guides 402 Groove, preferably arcuate groove 403 Rotating part, preferably slotted rotating part 404 Cover, preferably hollow cylindrical and / or rotatable cover 405 Sidewall, preferably non-rotatable 406 Side wall, preferably rotatable 407 Base part, preferably non-rotatable CA center axis L Code T1 First Section T2 Second Section

Claims

1. An articulated device (100), preferably a robotic hand (100), in particular an articulated device (100) for moving an application device (60) comprising a printhead device (61), comprising: A first joint structure (10) rotatable around a first axis (11); a line feedthrough (300) through which preferably at least one line (301) passes, The joint device (100) is provided with a forced guiding device (400) and has a rotating part (403) for performing forced guiding of the line feedthrough (300), and the rotating part (403) is rotatable around a central axis (401) of the forced guiding device (400). Articulation device (100).

2. The forced guide device (400) is characterized in that it comprises a preferably hollow cylindrical cover (404), The articulation device (100) of claim 1.

3. The cover (404) is is rotatable with said first articulated structure (10); or Not rotatable, or The rotor is formed in two or more parts, and has a first part that is non-rotatable and a second part that is rotatable. The articulation device (100) of claim 2.

4. characterized in that the first axis (11) of the first joint structure (10) and the central axis (401) of the forced guide device (400) are substantially coaxially aligned with each other, An articulation device (100) according to any one of claims 1 to 3.

5. characterised in that the line feedthrough (300) is connected to the first articulated structure (10) in order to rotate the first articulated structure (10) and in particular to drive the forced guiding device (400) and / or the rotating part (403) to rotate by the line feedthrough (300), An articulation device (100) according to any one of the preceding claims.

6. the line feedthrough (300) is connected to the first joint structure (10) in order to rotate the forced guiding device (400) and / or the rotating part (403) by means of the land feedthrough (300) at a reduced speed and / or a reduced rotation angle relative to the first joint structure (10), preferably at substantially half the speed and / or substantially half the rotation, by rotating the first joint structure (10). An articulation device (100) according to any one of the preceding claims.

7. a first section (T1) and a second section (T2), preferably characterized in that the first section (T1) and the second section (T2) are spaced apart from each other in the axial direction of the forced guide device (400), An articulation device (100) according to any one of the preceding claims.

8. the line feedthrough (300) is configured such that, by rotating the first articulated structure (10) in a first rotational direction, the line feedthrough (300) is unwound in the first section (T1) and wound up in the second section (T2), and, by rotating the first articulated structure (10) in a second rotational direction opposite to the first rotational direction, the line feedthrough (300) is unwound in the second section (T2) and wound up in the first section (T1). The articulation device (100) according to claim 7.

9. The line feedthrough (300) is In the first section (T1), the wire is wound and unwound, preferably spirally, at least half a turn, at least 1 turn, at least 1.5 turns, or at least 2 turns, and / or characterised in that in the second section (T2) the wire is wound and unwound at least half a turn, at least 1 turn, at least 1.5 turns or at least 2 turns, preferably spirally, An articulation device (100) according to claim 7 or 8.

10. The rotating part (403) has a groove (402) in which the line feedthrough (300) is received and preferably guided forcibly. An articulation device (100) according to any one of the preceding claims.

11. The groove (402) is arc-shaped, preferably forming a deflection arc for deflecting the line feedthrough (300). The articulation device (100) according to claim 10.

12. The groove (402) is rotatable about the central axis (401) of the forced guiding device (400); and / or and / or separated by a convex portion segment and an opposing concave portion segment; characterized in that it is arranged between a first section (T1) and a second section (T2) and in particular connects the line feed-through (300) of the first section (T1) with the line feed-through (300) of the second section (T2), Articulation device (100) according to claim 10 or 11.

13. the line feedthrough (300) has an arcuate cross section (302) running in particular in an arcuate manner in the groove (402) so as to enable the transmission of forces from the line feedthrough (300) to the rotating part (403) and so as to set the rotating part (403) in rotation about the central axis (401) of the forced guiding device (400), An articulation device (100) according to any one of claims 10 to 12.

14. In particular, the line feedthrough (300) is capable of partially sliding in the groove (402) when the groove (402) and / or the first joint structure (10) are rotated, An articulation device (100) according to any one of claims 10 to 13.

15. The rotating part (403) is configured to be slidable in the axial direction. An articulation device (100) according to any one of the preceding claims.

16. The groove (402) is and / or having a passage cross-section whose central axis (CA) is arranged substantially parallel to said central axis (401) of said forced guiding device (400); The forced guide device (400) has a cord (L) extending substantially parallel to the central axis (401), An articulation device (100) according to any one of claims 10 to 15.

17. The line feedthrough (300) extends in a first section (T1) and a second section (T2) in opposite spiral directions around the central axis (401) of the forced guide device (400). An articulation device (100) according to any one of claims 7 to 16.

18. the line feedthrough (300) is attached to a first attachment point in a first section (T1) and to a second attachment point in a second section (T2), the second attachment point being rotatable relative to the first attachment point, An articulation device (100) according to any one of claims 7 to 17.

19. the first joint structure (10) is connected to the second attachment point so as to rotate the second attachment point, 20. The articulation device (100) of claim 18.

20. characterised in that the line feedthrough (300) and / or at least one of the lines (301) are connected to a distributor box (350), preferably the distributor box (350) being mounted on the first articulated structure (10), in particular so as to rotate together with the first articulated structure (10), An articulation device (100) according to any one of the preceding claims.

21. a cover (404) configured to externally cover the groove (402), the rotating portion (403), the arc-shaped cross section (302) of the line feedthrough (300), the line feedthrough (300) of the first section (T1) and / or the line feedthrough (300) of the second section (T2); An articulation device (100) according to any one of claims 2 to 20.

22. The cover (404) has an outer sheath, a passage opening is formed in the outer sheath, and the line feedthrough (300) extends outward from the passage opening. An articulation device (100) according to any one of claims 2 to 21.

23. a cover (404) configured to be removable and / or arranged coaxially with the central axis (401) of the forced guiding device (400); An articulation device (100) according to any one of claims 2 to 22.

24. The rotating part (403) is circumferentially tapered or narrowed; and / or the concave side of the groove (402) is narrower than the convex side of the groove (402), An articulation device (100) according to any one of claims 1 to 23.

25. a winding and unwinding area for the line feedthrough (300) in the first section (T1) is axially limited by a first side wall (405) and the rotating part (403), and a winding and unwinding area for the line feedthrough (300) in the second section (T2) is axially limited by a second side wall (406) and the rotating part (403), An articulation device (100) according to any one of claims 7 to 24.

26. The line feedthrough (300) is configured as a hose or flexible tube.

26. An articulation device (100) according to any one of the preceding claims.

27. The articulation device (100) comprises an application device (60), preferably characterized in that the application device (60) comprises a printhead device (61) having a plurality of nozzles for ejecting a coating material, 27. An articulation device (100) according to any one of the preceding claims.

28. The articulation device (100) further comprises: a second joint structure (20) rotatable around a second axis (21); a third joint structure (30) rotatable around a third axis (31); 28. An articulation device (100) according to any one of the preceding claims.

29. the articulation device (100) preferably has an additional line feed-through (40) through which at least one further line (41) runs, in particular extending axially through the rotating part (403), the first articulation structure (10) and / or the third articulation structure (30), 29. An articulation device (100) according to any one of the preceding claims.

30. an offset (50) is formed between the first axis (11) and the second axis (21), and the first axis (11) and the second axis (21) are arranged offset from each other, An articulation device (100) according to claim 28 or 29.

31. characterised in that the first axis (11) and the third axis (31) extend in a common plane and the second axis (21) crosses the common plane, preferably substantially perpendicularly. An articulation device (100) according to any one of claims 28 to 30.

32. the first articulated structure (10) comprises a drive for rotating the first articulated structure (10) about the first axis (11); and / or the second articulated structure (20) comprises a drive for rotating the second articulated structure (20) about a second axis (21); and / or the third articulated structure (30) is characterized in that it comprises a drive configured as a gearless and / or direct drive for rotating the third articulated structure (30) about a third axis (31); An articulation device (100) according to any one of the preceding claims.

33. the drive of the first articulated structure (10) is connected to the first articulated structure (10) without its own housing and / or without its own bearings; and / or the drive of the second articulated structure (20) is connected to the second articulated structure (20) without its own housing and / or without its own bearing; and / or characterised in that the drive of the third joint structure (30) is connected to the third joint structure (30) without its own housing and / or without its own bearing, 33. The articulation device (100) according to claim 32.

34. said first articulated structure (10) forms a housing for its drive, and / or said second articulated structure (20) forms a housing for its drive, and / or the third joint structure (30) forms a housing for its drive, Articulation device (100) according to claim 32 or 33.

35. and / or having a measuring device for measuring the rotational position of the first articulated structure (10); a measuring device (22) for measuring the rotational position of the second articulated structure (20), and / or a measuring device (32) for measuring the rotational position of the third joint structure (30), An articulation device (100) according to any one of claims 1 to 34.

36. At least one of the lines (301) of the line feedthrough (300) comprises: at least one cable for power supply and / or control of the drive of the second articulated structure (20) and / or the drive of the third articulated structure (30); at least one cable for supplying power to the measuring device (22) of the second articulated structure (20) and / or the measuring device (32) of the third articulated structure (30); at least one cable for data transmission from the measuring device (22) of the second articulated structure (20) and / or the measuring device (32) of the third articulated structure (30); at least one line for the power supply of a braking device for braking the second articulated structure (20) and / or for the power supply of a braking device for braking the third articulated structure (30); characterized by comprising at least one of An articulation device (100) according to any one of claims 1 to 36.

37. One or more of the cables are constructed as a single wire.

37. The articulation device (100) of claim 36.

38. At least one further line (41) of the additional line feedthrough (40) comprises: at least one media line for application material supply and / or for fluid supply to the application device (60) and / or the printhead device (61); at least one media return line for returning fluid from said application device (60) and / or said printhead device (61); and / or at least one cable for power supply and / or control of said application device (60) and / or said printhead device (61); characterized by comprising at least one of An articulation device (100) according to any one of claims 29 to 37.

39. A coating robot (200), preferably a painting robot, comprising an articulated device (100) according to any one of the preceding claims.

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