Three-dimensional deflectable line guide device, particularly for a robot, and robot

Abstract

A line guide device (10) is proposed for guiding a line (60), such as a cable, a hose, etc., in particular in an industrial robot (1). The line guide device (10) comprises links articulated by three-dimensionally deflectable articulated connections. According to the invention, it is provided that the line guide device has a variable length section (11) comprising a number of links (200A, 200B; 700A, 700B) interconnected in such a way that they are longitudinally adjustable relative to one another, and a restoring element (300) elastically longitudinally extensible exerts a restoring force on the variable length section (11) counteracting the elongation of the variable length section (11). The links (200A, 200B; 700A, 700B) are in particular connected or connectable in such a way that the longitudinal adjustment of two links (200A, 200B; 700A, 700B) relative to one another results in their relative rotation (R1, R2).

Description

[Technical Field]

[0001] The present invention generally relates to a line guidance device for dynamically guiding a line, such as a cable, hose, etc., between two connection points, at least one of which moves relative to the other. The present invention relates to a line guidance device suitable for use with a robot having multiple degrees of freedom, in particular an industrial robot or an industrial articulated arm robot. [Background technology]

[0002] A robot is here generally understood to mean any type of automatically operated manipulating device, but in particular an industrial articulated arm robot with multiple degrees of freedom, although the invention is not limited to use with robots and may also be used to advantage elsewhere, for example in lifting devices.

[0003] The line guide device serves for the protected guidance of lines, in particular supply lines for supplying power, signals and / or operating media. In articulated arm robots, the lines serve for example to supply tools arranged in the end effector, also known as the robot hand.

[0004] The most diverse line guide devices, such as energy guide chains, are well known for providing protected guidance of a line between two relatively movable connection points.

[0005] The present invention particularly relates to a line guide device comprising at least one three-dimensionally deflectable section along its length.

[0006] Such a general line guide device has already been proposed, for example, in US Pat. No. 5,629,999 or US Pat. No. 5,629,999. This general line guide device or energy chain comprises a plurality of links which form a receiving space for the protective guidance of the line. The links are arranged successively in the longitudinal direction and are articulatedly interconnected by respective articulations. Any articulation between two links allows a three-dimensional deflection of the connecting links relative to each other, which is necessary in particular, but not exclusively, for applications using articulated arm robots or industrial robots.

[0007] In particular, for such applications, both the distance and the spatial position between two relatively moving connection points usually change between the third axis of the articulated arm robot and the sixth axis or end effector of the articulated arm robot. For this purpose, a length of the line guide device is required that encompasses the largest possible distance and angle of rotation between the connection points. To prevent uncontrolled movements due to position-dependent excess length in such applications, "return" or "recovery" systems are already known from the prior art.

[0008] A common structure for this recovery system comprises a deflection roller mounted so as to be displaceable in the longitudinal direction, around which the line guide device forms a loop or deflection arc, and the longitudinal adjustment of the deflection roller is guided so as to retract or contract (recover) the unnecessary length of the line guide device depending on the operating position. An example of this recovery or return system is known from US Pat. No. 5,649,499. However, the structure of this system is relatively complex and occupies structural space, which may, among other things, hinder the freedom of movement of the robot.

[0009] One solution for restoring or returning a three-dimensionally deflectable line guide device or energy chain that is simplified in this respect is proposed in Patent Document 4. In this case, at least one elastic rod is provided in the accommodation space of the line guide device for the purpose of restoring, the rod being elastic about its longitudinal axis and extending longitudinally within the accommodation space. As the chain links pivot, the rod generates an opposing restoring force. However, this solution also requires a certain amount of structural space or movement play for the movement of the longitudinal part of the line guide device on which the elastic rod is provided. Another solution using spring arms is proposed in Patent Document 5, but this also requires structural space, for example around a robot arm. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] European Patent No. 1492967 [Patent Document 2] European Patent No. 1616376 [Patent Document 3] European Patent No. 3126104 [Patent Document 4] European Patent No. 1200753 [Patent Document 5] German Utility Model No. 202006006637 Summary of the Invention

[0011] Therefore, in view of the above background of the invention, a first object of the invention is to propose a simple and compact solution that can in particular, but not exclusively, perform the functions of a return system, the solution being particularly suitable for articulated arm robots.

[0012] A typical line guide device serves to guide a flexible line, such as a cable, a hose, or the like, between a first connection point and a second connection point movable relative to the first connection point, in particular in a robot with multiple degrees of freedom. For this purpose, the line guide device in particular forms a receiving space for the line and comprises a plurality of links arranged in succession in the longitudinal direction and articulatedly interconnected by respective articulations, the articulations permitting or enabling three-dimensional deflections of the connecting links relative to one another.

[0013] According to the invention, in its simplest embodiment, the line guide device or energy guide chain comprises at least one elastic restoring element and has a variable length section. According to the invention, at least one longitudinal section of the line guide device or energy guide chain is configured so that the length of this longitudinal section is changeable, i.e. variable. The variable length section may in particular be extensible against the restoring force exerted by the elastic restoring element.

[0014] In this case, the variable length portion has a number of links interconnected in such a way that they are rotatable relative to one another about a longitudinal direction and are longitudinally adjustable relative to one another for extension of the variable length portion in the longitudinal direction, in which case the links may be interconnected in an articulated manner and / or connected or mechanically coupled in such a way that longitudinal adjustment of two links relative to one another results in a desired predetermined relative rotation.

[0015] The restoring element is elastically longitudinally extensible and is positioned such that it exerts a restoring force on the adjustable length portion that opposes elongation of the adjustable length portion.

[0016] The core concept of the present invention is, firstly, to enable length variation through a combination of allowable relative rotation of the links and longitudinal adjustability or displacement of the links relative to one another. This is because the contained lines are not longitudinally extensible per se, i.e., they are essentially not capable of extension (the lines are not, per se, an essential subject of the present invention). The present invention is based, inter alia, on the recognition that laying the line in a spiral manner in the line guide device allows extension within certain limits. This can be utilized in combination with the longitudinal adjustability and allowable relative rotation between the links to provide a relatively easily retractable and extensible configuration, i.e., a configuration that is longitudinally extensible in at least one longitudinal section of the line guide device.

[0017] In combination with elastically longitudinally extensible restoring elements, particularly simple, compact and lightweight restoring functions can be realized.

[0018] A spiral or helical path may in this case be predetermined, with optional extension, by links in the variable length section itself or by at least one suitably deformable support element, for example a belt-type carrier, of an extensible herical or helicoidal basic shape, on which the line is held in the variable length section.

[0019] The connections between the links may be articulated with multiple degrees of freedom, or may be realized as a kind of screw joint, for example.

[0020] If the variable length portion itself predetermines a preferred helical path for the line, the links are accordingly preferably not free to rotate relative to one another, but only in an appropriate predetermined manner.

[0021] In particular, in one such embodiment, it is advantageous if the connections of successive links of any variable length section are configured so that the longitudinal adjustment of the two links relative to one another, i.e., their return to an extended or retracted position depending on the direction, predetermines their relative rotation as a function of direction, either in one or the other rotational direction about the longitudinal direction.

[0022] The connections between the links of the variable length section may be provided with a kind of forced guide, in particular a rotational guide, which causes a relative rotation of the two links in a first rotational direction during longitudinal extension adjustment of the two links, i.e., a relative rotation of one link relative to the other link, and a corresponding relative rotation in the opposite direction during longitudinal restoration adjustment of the two links. If three-dimensional deflection is not required in the variable length section, this can be implemented, for example, by means of a screw joint for connecting the links. However, preferred are types of connections or joints which have additional degrees of freedom and allow at least some three-dimensional deflection between the links of the variable length section, in particular around at least two axes perpendicular to the longitudinal direction.

[0023] In one preferred configuration, the variable-length section has a first subsection and a second subsection, where in the first subsection, the connected links rotate relative to each other in a first rotational direction during extension and in the opposite direction during restoration, and in the second subsection, the connected links rotate relative to each other in a second rotational direction opposite the first rotational direction during extension and in the opposite direction during restoration. Here, the relative rotation is relative to two consecutive connected links regardless of which link rotates, i.e., one link rotates relative to the other. Thus, preferably, in each subsection, only one predetermined rotational direction is possible or effected in the extension or deployment direction (during extension), and in the restoration direction, only the opposite rotational direction is effected, i.e., the relative rotation proceeds in one direction or the other depending on whether the variable-length section is being extended or retracted. Thus, it can be ensured that any helically extending line can be reliably moved back and forth between two opposite helical shapes to avoid excessive loads.

[0024] Particularly preferably, the restoring element is arranged to apply a pretension, in particular an adjustable pretension if necessary, in the longitudinal direction in order to contract the variable-length section into a basic position corresponding to the smallest possible longitudinal dimension, even in the case of a relatively stiff line, i.e., allowing a maximum extension from this basic position, thus reliably ensuring recovery to the contracted shortest position.

[0025] The at least one elastic restoring element can in particular be realized as a rope or band. In particular, a rubber cable, preferably with a rubber thread and / or rubber band and a braided cover, can be used as the restoring element. Alternatively, for example, a suitable spiral spring can also be provided as the restoring element.

[0026] In one further development, an adjustment device for adjusting the pretension of the restoring element is provided in at least one end region of the variable length section, in particular in an end link of the variable length section.

[0027] In order to keep the load on the line as low as possible, especially when using two subsections that can rotate in opposite directions, a central piece may be provided between the two subsections of the variable length section, said central piece having a strain relief for the guided line, said central piece preferably having a structural length greater than the structural length or pitch of said number of links of the variable length section.

[0028] This central piece may in particular be connected at its longitudinal ends with smaller sections which may rotate in opposite directions, for example, both using opposing rotation guides, or optionally may not rotate at all.

[0029] In particular, in the case of rope-like restoring elements, it is particularly preferred that at least each link of the variable length section has a central core with a central through-hole, through which the elastic restoring element is guided freely with play, so that the elastic restoring element can be positioned on the neutral axis of the line guide. The restoring element is preferably guided through the core with play and with low friction and wear.

[0030] A central core is not necessarily required, for example, if the connection of the links is realized using tubular shell sections, although a structure with a central core is particularly preferred, for example, if it is the variable length section itself that predetermines the desired path of the line without additional support components for the line.

[0031] The central core preferably has or forms guide elements of a rotation guide and / or can predetermine the relative rotation as a function of direction, preferably in one or the other rotational direction around the longitudinal direction of the longitudinal adjustment of the two links relative to each other. The core can form joint parts on both sides, for example, of a screw joint or a more complex joint with more degrees of freedom. Alternatively, the desired relative rotation can be realized by radially outer guide parts, for example, rotation guides, on the shell parts of the links.

[0032] Preferably, it is provided that at least the links of the variable length section or each subsection or all the links have a central core forming longitudinally opposed joint heads and joint receptacles, the latter being aligned and configured for articulation with the joint head of the next link.

[0033] In this case, the joint head and the joint receptacle preferably simultaneously form a rotation guide inside the joint receptacle for predetermining the intended or desired relative rotation, in particular by means of one or more helically extending guide surfaces, for example helically extending trough-like walls. For example, the joint head and the joint receptacle may interact with one or more guide elements on the joint head to predetermine the relative rotation.

[0034] Various shapes of joint heads and interacting joint receptacles are within the scope of the present invention.

[0035] In one variant, it is provided that the joint head has a basic shape of approximately triangular cross section, preferably with arc-shaped rounded sides, the three vertices of which are guided as guide elements relative to corresponding spirally extending guide surfaces inside the joint receptacle.

[0036] In another variant, it is provided that the joint head has a basic shape of approximately elliptical cross section, the two main vertices of which are guided as guide elements relative to corresponding spirally extending guide surfaces inside the joint receptacle.

[0037] In principle, the joint head and the joint receptacle, when configured appropriately, can form an articulated connection that is longitudinally adjustable, relatively rotatable, and pivotable about at least two axes perpendicular to the longitudinal direction for three-dimensional mutual deflection of the connected links. In particular, both sides of the basic shape of the joint head are concave in longitudinal cross section, in particular corresponding to radii of curvature for three-dimensional deflection. In this case, the joint head and the joint receptacle interact similarly to the operation of a ball-and-socket joint.

[0038] To simplify assembly or for better manufacturability of the link according to the invention, especially in injection-molded plastic materials, the joint head and the joint receptacle are preferably formed by two separate components of plastic material. This is particularly realized by a two-part structure of the core, for example, by using two complementary injection-molded parts that can be fitted together and can be connected on a boundary plane preferably arranged on the longitudinal axis. In this way, in particular, complex geometries of the receptacle can be more easily or advantageously produced, and in particular the desired relative adjustment in rotation or translation can be realized. The complementary core parts can be connected in this case in an interlocking and / or non-interlocking manner.

[0039] To simplify assembly or rotational adjustment, the joint receptacle itself may also be formed by at least two separate inserts attached to the core within the receptacle, each insert preferably having a helically extending inner surface.

[0040] Preferably, at least the links of the variable length section or a subsection thereof, or all the links, each have a central core with at least two substantially radial webs, by which at least one shell segment is held. The shell segments here act to radially delimit the storage space. The shell segments are preferably arranged in an upwardly pivotable manner and / or have a flexible structure, forming an insertion opening between each pair of shell segments. This simplifies the installation or replacement of lines when necessary. Optionally, at least in the variable length section, the shell segments may form a tube that is closed in the circumferential and longitudinal directions. With this configuration, the connection between any consecutive links may be provided with a rotation guide in the shell segments, particularly in the overlapping regions of the shell segments, having an obliquely extending groove and a protrusion that engages therewith.

[0041] In one variant, each longitudinally adjustable connection in the longitudinal direction comprises at least two longitudinal stops that limit the longitudinal adjustment of the two links in both directions. Corresponding longitudinal stops may be provided on the core and / or on the shell segments. The two longitudinal stops for limiting the expansion and / or contraction are particularly preferably formed by joint receptacles on the core. Therefore, no structural measures on the shell segments are required for this purpose.

[0042] The longitudinal play or axial adjustment dimension of the longitudinally adjustable connections between adjacent links is preferably at least 20%, preferably at least 30% and in particular not more than 45% of the link pitch or axial structural length, especially of the links of the central core.

[0043] Depending on the desired characteristics, the line guide device may be configured such that the three-dimensionally deflectably connected links are realized in a manner different from the above-mentioned multiple links in the variable length section, in particular such that they are not longitudinally adjustable, i.e. not adjustable or extensible relative to each other in the direction of tension transmission (resistant to tensile stress) or have an invariable structural length along the neutral axis.

[0044] Thus, in particular, three-dimensionally deflectable links of a first type of design known per se, which are not longitudinally adjustable relative to one another, can be connected to a line guide device by links of a second type configured according to the invention, which are provided in variable length sections.

[0045] The links constructed according to the invention may differ from three-dimensionally deflectable links of known design per se, in particular by the type of connection, in particular by articulated connections, by means of which the links are all connected to each other in pairs, but apart from this may have a comparable or substantially identical design to known designs, for example in terms of comprehensive separation by shell parts etc.

[0046] In a preferred embodiment, the longitudinal section is connected with a link constructed according to the invention for length modification in at least one longitudinal section resistant to tensile stresses, which is not of variable length and consists of another type of three-dimensionally deflectable link, for example, the variable length section may be provided between the two longitudinal sections of constant length.

[0047] Alternatively, depending on the application, all links of the line guide device may be realized to be three-dimensionally deflectable, longitudinally adjustable and rotatable relative to each other, or the entire line guide device may consist of both links connected to be three-dimensionally deflectable, allowing variable length adjustment.

[0048] In the counter-rotatable subsections, the links may be of substantially identical structural construction, preferably apart from the different rotational directions at the articulated connection, and may be connected via an additional central piece.

[0049] In use, the line guide device typically has at least one line guided therein, the at least one line being arranged to extend helically or spirally in a variable length portion, in particular corresponding to a first helical coil in a first sub-portion and a second helical coil in a second sub-portion extending in an opposite rotational direction.

[0050] The invention further relates to a robot, in particular an industrial articulated arm robot, comprising a line guide device according to one of the above configurations.

[0051] The invention can be used for any type of supply line such as cables, hoses etc., in particular power and data supply lines, but also compressed air hoses etc. [Brief explanation of the drawings]

[0052] [Figure 1A] FIG. 1A shows a side view of an articulated arm robot having a line guide device according to the present invention in a first position in which the line guide device is retracted or restored. [Figure 1B] FIG. 1B shows a perspective view of an articulated arm robot having a line guide device according to the present invention in a first position in which the line guide device is retracted or restored. [Figure 1C] FIG. 1C shows a side view of an articulated arm robot having a line guide device according to the present invention in a second position where the line guide device is extended. [Figure 1D] FIG. 1D shows a perspective view of an articulated arm robot having a line guide device according to the present invention in a second position in which the line guide device is extended. [Figure 2A] FIG. 2A shows a diagram of a first exemplary embodiment of a chain link according to the present invention for an extensible line guide device. [Figure 2B] FIG. 2B shows a diagram of a first exemplary embodiment of a chain link according to the present invention for an extensible line guide device. [Figure 2C]FIG. 2C shows a diagram of a first exemplary embodiment of a chain link according to the present invention for an extensible line guide device. [Figure 3A] FIG. 3A shows in longitudinal section an extensible variable length section having only an exemplary number of links according to FIGS. 2A-2C in a contracted state with elastic return elements for returning to the contracted state. [Figure 3B] FIG. 3B shows in a front view an extensible variable length section having merely an exemplary number of links according to FIGS. 2A-2C in a contracted state with an elastic return element for returning to the contracted state. [Figure 3C] FIG. 3C shows in longitudinal section an extensible variable-length section having merely an exemplary number of links according to FIGS. 2A-2C in a stretched, elongated state with an elastic return element for returning to a contracted state. [Figure 3D] FIG. 3D shows a front view of an extensible variable-length section having merely an exemplary number of links according to FIGS. 2A-2C in a stretched, elongated state with elastic return elements for returning to a contracted state. [Figure 4] FIG. 4 shows a schematic diagram of the behavior of a line or helical line path of a line guided in a line guide device according to the invention in a contracted and extended state. [Figure 5A] FIG. 5A shows a particularly preferred arrangement of a link according to FIGS. 2A-2C, with an extensible variable length section having two sub-sections that can rotate in opposite directions. [Figure 5B] FIG. 5B shows a particularly preferred arrangement of a link according to FIGS. 2A-2C, with an extensible variable length section having two sub-sections that can rotate in opposite directions. [Figure 6A] FIG. 6A shows a diagram of a second exemplary embodiment of an extendable longitudinal portion of a line guide device in a contracted state of the longitudinal portion. [Figure 6B] FIG. 6B shows a diagram of a second exemplary embodiment of an extendable longitudinal portion of a line guide device in an extended state of the longitudinal portion. [Figure 6C] FIG. 6C shows a view of a second exemplary embodiment of an extendable longitudinal portion of a line guide device in a contracted state of the longitudinal portion. [Figure 6D] FIG. 6D shows a view of a second exemplary embodiment of an extendable longitudinal portion of a line guide device with the longitudinal portion in an extended state. [Figure 6E] FIG. 6E shows a diagram of a second exemplary embodiment of an extendable longitudinal portion of a line guide device in a side view relative to the path of a line guided therein in a fully contracted state, along with a percentage indication of the achievable length change. [Figure 6F] FIG. 6F shows a diagram of a second exemplary embodiment of an extendable longitudinal portion of a line guide device in a side view relative to the path of a line guided therein in a semi-extended state, together with a percentage indication of the achievable length change. [Figure 6G] FIG. 6G shows a diagram of a second exemplary embodiment of an extendable longitudinal portion of a line guide device in a side view relative to the path of a line guided therein in a fully extended state, along with a percentage indication of the achievable length change. [Figure 7A] FIG. 7A shows a perspective view of two chain links of the second exemplary embodiment. [Figure 7B] FIG. 7B shows a perspective view of two chain links of the second exemplary embodiment. [Figure 7C] FIG. 7C shows a diagram of two chain links of the second exemplary embodiment in an exploded view, with one chain link for a clockwise rotating joint. [Figure 7D] FIG. 7D shows a diagram of two chain links of the second exemplary embodiment in an exploded view with one chain link for a counterclockwise rotating joint. [Figure 8] FIG. 8 shows an exemplary embodiment of a central piece for connecting counter-rotating subsections of chain links according to FIG. 7C or 7D. [Figure 9] FIG. 9 shows an exemplary embodiment of an end piece or connecting piece for connecting the chain links according to FIGS. 7A to 7D with conventional chain links. [Figure 10A] FIG. 10A is a perspective view of a chain link according to a third exemplary embodiment of the present invention as a variation of FIG. 7, for example with a larger diameter. [Figure 10B] FIG. 10B is a perspective view of a chain link according to a third exemplary embodiment of the present invention as a variation of FIG. 7, for example with a larger diameter. [Figure 11] FIG. 11 is a perspective view of a chain link according to a fourth exemplary embodiment of the present invention. [Figure 12A] FIG. 12A shows a perspective view of a chain link according to a fifth exemplary embodiment of the present invention as a variant of FIG. [Figure 12B] FIG. 12B shows a perspective view of a chain link according to a fifth exemplary embodiment of the present invention as a variant of FIG. [Figure 12C] FIG. 12C shows a perspective view of a chain link according to a fifth exemplary embodiment of the present invention as a variant of FIG. [Figure 12D] FIG. 12D shows a perspective view of two interchangeable multi-component inserts of a joint receptacle that selectively predetermine one of two opposing rotational orientations. [Figure 12E] FIG. 12E shows a perspective view of two interchangeable multi-component inserts of a joint receptacle that selectively predetermine one of two opposing rotational orientations. [Figure 13A] FIG. 13A shows a perspective view of a chain link according to a sixth exemplary embodiment of the present invention as a variant of FIG. [Figure 13B] FIG. 13B shows a perspective view of a chain link according to a sixth exemplary embodiment of the present invention as a variant of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0053] Further details, features and advantages of the present invention will become apparent from the following detailed description of preferred embodiments, which proceeds with reference to the accompanying drawings.

[0054] 1A to 1D show an articulated arm robot 1, here with serial kinematics, for example a six-axis buckling arm robot of a structure known per se, as an example of an industrial robot. The present invention is particularly, but not exclusively, applicable to such robot arms with multiple degrees of freedom. A line guide device 10 is arranged here, for example, between two connection points 2 and 3 on the third and sixth axes. The line guide device 10 is fixed at its ends to the two connection points 2 and 3 on the articulated arm robot 1 using clips. Connection point 3 is spatially movable relative to connection point 2 by the robot axes (fourth to sixth axes).

[0055] 1A shows, the line guide device 10 has at least one variable-length first section 11 (variable-length section) to which a three-dimensionally deflectable second section 12 is connected. Both sections 11, 12 may be three-dimensionally deflectable and variable in length, respectively. Alternatively, only the first section 11 may be of variable length and optionally three-dimensionally deflectable, while the second section 12 comprises chain links known per se. The second section 12 may comprise or be assembled from chain links according to the structure according to EP 1 616 376 or US 7 439 446 (= WO 2004 / 093279, the teachings of which are hereby incorporated by reference).

[0056] The connection between the first part 11 and the second part 12 (FIG. 1A) can here be realized by means of specific connecting or end pieces, as will be further explained below.

[0057] Figure 2A~ 2Cshows a first example of a chain link 200 for forming the variable length section 11. In a structure known per se, the chain link 200 comprises a shell 201 which in this example is realized circumferentially closed about a longitudinal axis L. The shell 201 is connected to a core 210 of the chain link 200 by three radial webs 202 and can be made, for example, in one piece from a plastic material. Between the shell 201 and the core 210, the chain link 200 forms three chambers 203 separated by the webs 202 as accommodation spaces for lines (not shown). The chambers are open over the entire axial direction. The shell 201 and the webs 202 are arranged and configured, for example, rotationally symmetrically about the longitudinal axis L.

[0058] A particular aspect of the present invention resides in the connection configuration between consecutive chain links 200, as shown by Figures 3A-3C based on an exemplary portion of a chain link 200. To connect adjacent chain links 200, a core 210 has a joint head 220 at one longitudinal end and a conjugated joint receptacle 230 at the other longitudinal end. The joint head 220 and the joint receptacle 230 are configured such that the connected chain links 200 are longitudinally adjustable relative to one another, as shown by a comparison of Figures 3A and 3C, and such that longitudinal adjustment of two chain links 200 relative to one another results in their relative rotation by a predetermined angular amount, as shown by the front view of Figure 3B or 3D.

[0059] 2A-2B and Fig. 2C The geometry of the joint head 220, which is most apparent in Fig. 3B, has a basic shape of a generally triangular cross section perpendicular to the longitudinal axis L in this example. In this cross section, the sides 221 are arcuately rounded by a first radius (see Fig. 3B), and the vertices 222, or points, are rounded by a significantly smaller second radius (see Fig. 3D). At each longitudinal cross section along the longitudinal axis, the outer surface of the arcuately triangular joint head 220 is further rounded by a relatively smaller third radius. That is, this rounding is shown in Figs. 2C2A with a circumferential direction. Therefore, only curvilinear contact can be achieved in the joint receptacle 230 due to the largest cross-sectional area profile. The rounded portions allow tilting or ball-joint type movement axially or about two axes perpendicular to the longitudinal axis with a third radius. The joint head 220 is integrally connected to the wall of the joint receptacle 230 via a necked journal 223.

[0060] 3A and 3C further show a restoring element 300 in the form of an expander rope or rope-like rubber cable, which preferably consists of a highly elastic rubber thread and a braided cover for its protection. The restoring element 300 is inserted through a corresponding central pass-through opening in the core 210. Mouth 3C to the longitudinal axis L and is fastened to the chain link 200 at the end of the variable-length portion 11 so as to withstand tensile stresses, for example by means of a clamping ring 302. The restoring element 300 is elastically longitudinally extensible and exerts an axially directed restoring force on the variable-length portion 11 that opposes elongation of the variable-length portion, i.e., causes the portion to recover from the extended position of FIG. 3C to the retracted position of FIG. 3A.

[0061] The joint head 220 of each connection of two chain links 200 interacts with an inner surface 232 of the joint receptacle 230 in such a way that the connection acts as a rotational or forced guide, which allows the chain links 200 to rotate relative to one another in a first rotational direction in the case of longitudinal adjustment (FIGS. 3A-3C) and an opposite relative rotation in the case of longitudinal return adjustment. For this purpose, the joint receptacle 230 is provided with an inner surface 232 that corresponds to the helical rotation of the outer contour of the joint head 220. In other words, the inner surface 232 corresponds to the surface generated by rotating the contour of the joint head 220 in the case of axial feed. The joint receptacle 230 therefore forms a female shape for the rotatable and longitudinally adjustable mounting of the joint head 220, in particular a female shape conjugated to the volume generated by the corresponding rotational translation of the joint head 220, plus the technically required operating play. The three vertices 222 of the joint head 220 are therefore guided as guide elements against corresponding spirally extending guide surfaces which form a trough-like and spiral wall, similar to a kind of internal thread, inside the joint receptacle 230. The chain links 200 are connected or coupled in such a way that longitudinal adjustment of the two links with respect to each other results in their relative rotation as they contract or expand in one or the other direction of rotation.

[0062] The shells 201 each lockingly engage with one another in the insertion position as a longitudinal stop for limiting the maximum extension or stretch. For this purpose, the shells 201 have a circumferential annular groove with a rear annular rim 205 as a limit stop and an inwardly protruding annular collar 207 abutting the rim 205 as a meshing stop. The longitudinal stop is preferred, inter alia, because the restoring elements 300 tighten the chain links 200 against one another, but breaking of the restoring elements 300 should not cause separation of the line guide device or the variable-length section 11 of the energy chain 10. However, the longitudinal stop may also be implemented differently, for example relative to the central core (see further below).

[0063] 4 is a schematic diagram of two different spiral or helical paths S1 and S2 of a line guided with variable length sections. Position S1 corresponds to the retracted or restored position of the line guide device 10 (see FIGS. 1A-1B). Position S2 corresponds to the extended position of the line guide device 10 (see FIGS. 1C-1D).

[0064] 5A-5B show a particularly preferred embodiment. The variable length portion 11 has a first sub-portion 11A in which all of the connected chain links 200A rotate relatively around the longitudinal direction L in a first rotational direction R1 during extension and in an opposite direction R2 during recovery. Furthermore, the variable length portion also has a first sub-portion 11A in which all of the connected chain links 200B rotate relatively around the longitudinal direction L in a second rotational direction R2 opposite to the first rotational direction R1 during extension and in the first rotational direction R2 during recovery. 1 toThe second subsection 11B has a second subsection 11B that rotates relative to the first subsection 11A. In this way, the rotations of the subsections 11A, 11B generally cancel each other out so that the line can be handled gently without any rotation being transmitted at the ends of the variable-length section 11. The number of links 200A, 200B is preferably equal in the two subsections 11A, 11B. The structure of the links 200A, 200B in each subsection 11A, 11B differs only in the direction of rotation predetermined by the respective joint receptacles 230, i.e., the joint receptacles 230 have opposite directions. Thus, in one subsection 11A, the links rotate clockwise relative to each other when extended or stretched (e.g., R1), and in the other subsection 11B, they rotate counterclockwise relative to each other when extended (e.g., R2). 、 Or vice versa and , and therefore rotates back in the opposite direction when contracted again.

[0065] In this case, moreover, a special central piece 250 is provided between the sub-sections 11A, 11B of the variable length section.

[0066] The central piece 250 allows for strain relief of the guided line, for example, on the basis of corresponding slots in the shell. The central piece 250 preferably has a structural length greater than the structural length or pitch of the links 200A, 200B.

[0067] The central piece 250 may have a core 210 configured at its longitudinal ends according to the links 200A, 200B and connected to counter-rotating subsections 11A, 11B.

[0068] The intentionally allowable relative adjustment between the two links 200A and 200B in the longitudinal direction, respectively, is allowed as play for the longitudinally adjustable connection and is designated by d in FIG. 5B, up to a maximum length difference L2-L1 across the chain links of the variable length section 11 in the fully extended position (FIG. 5B).

[0069] Another preferred exemplary embodiment will now be described in more detail based on FIGS.

[0070] 6A-6D show a variable-length section 11 of the line guide device 10 for the arrangement according to FIG. 1A, which is composed of two subsections 11A, 11B. The subsections 11A, 11B similarly rotate in opposite directions when stretched from a fully contracted state of length L1 (FIGS. 6A, 6C) to a fully extended state of length L2 (FIGS. 6B, 6D), e.g., 1.3×L1≦L2≦1.5×L1, e.g., L2=140%×L1 (FIG. 6G). For this purpose, the subsections 11A, 11B are assembled from connected chain links 700A and 700B, respectively, according to FIGS. 7A-7D, and are interconnected via a special central piece 800 according to FIG. 8, in which the guided line 60 receives tension relief. At the ends, each subsection 11A, 11B has a special end piece 900 for connection to a longitudinal section of a conventional chain link, constructed for example according to EP 1 616 376 or US 7 439 446 (= WO 2004 / 093279). As further explained above and shown in Figures 6A-6D, here too the two subsections 11A, 11B are telescopically extendable or extendable by counter-rotation relative to each other, clockwise and counter-clockwise, respectively.

[0071] 6E-6G show an exemplary arrangement and paths of six lines 60, which are guided in the section 11, for example. In the variable-length section 11, each line extends helically or helically, i.e., corresponds to a first helical coil 61A rotating clockwise in the direction R1, for example, in the first subsection 11A, and a second helical coil 61B extending in the opposite direction of rotation, for example, rotating counterclockwise, in the second subsection 11B. All lines 60 are twisted together to form corresponding multiple helical bundles in the fully contracted state and are tension-relieved in the central region of the central piece 800 according to FIG. 8. The directions of rotation of the helical coils 61A, 61B correspond to the directions of rotation of the chain links 700A, 700B and are opposite to each other. Then, in the fully extended state (FIG. 6G), the line 60 is stretched so as to be substantially straight, i.e., two helical coils 61A, 61B are wound around it, and for this purpose, in the fully extended state, the subsections 11A, 11B form a straight trough-like receptacle for the line 60 (see FIG. 6D).

[0072] 7A-7D show in detail a second example of chain links 700A, 700B for forming a variable-length section 11 using counter-rotating subsections 11A, 11B. For clarity, only substantial differences from FIGS. 2-5 are considered. The chain links 700A, 700B have arcuate shell segments 71 produced from the same part (FIGS. 7C-7D). In FIGS. 7A-7D, the shell segments 71 are not circumferentially closed around the longitudinal axis L, but each has insertion openings 71A, 71B on both sides to simplify the installation or replacement of the line 60. Each of the two shell segments 71 is connected by only one radial web 72 with the core 710 of the chain links 700A, 700B. Thus, each chain link 700A, 700B now forms two separate axially open chambers for receiving the line 60 (see FIG. 6D).

[0073] Each chain link 700A, 700B has a core 710 with a joint head 720 at one longitudinal end and a conjugately configured joint receptacle 730A or 730B at the other longitudinal end, again axially opposed. In particular, for simpler manufacture of the complex geometrical shapes of the joint receptacles 730A or 730B, respectively, and for simplified installation of the joint head 720 in the joint receptacle 730A or 730B, in Figures 7A-7D the core 710 is made in two parts, here made from a first part 710A with the joint head 720 and a lid-like second part 710B for forming the joint receptacle 730A or 730B, respectively. The second part 710B is complementary to the first part 710A and can be operatively connected thereto. The two-piece construction allows, among other things, for a peripheral retaining rim 733 at the opening to each joint receptacle 730A or 730B, respectively, for engagement of the joint head 720. The retaining rim 733 acts, among other things, as an axial stop during extension or contraction, but can also limit three-dimensional deflection by abutting against the cylindrical neck supporting the mating joint head 720. In the opposite direction, during contraction, the joint head 720 abuts internally against the inner surface of the joint receptacle 730A or 730B, respectively.

[0074] As shown in FIGS. 7C-7D, as a result of the structure of the web 72, the second part 710B is stably fixed to the first part 710A. This is achieved by forming each of the two parts 710A, 710B from two segments 711, each formed with a shaft, pin, or the like, onto which a conjugated receptacle 712, e.g., a square receptacle, slides in a mating manner. When the shell segments 71 are fastened to one another, the two segments 711 are secured by insertion into the receptacles 712. Each shell segment 71 is fastened to the core 710, for example, using a self-tapping screw. The receptacle 712 is formed on an internal protrusion that is integral with the shell segment 71 and then stably holds and secures the core 710 components 710A, 710B to one another. 7A-7D also show in the first part 710A a coaxial open-through passage opening 725 for the restoring element 300 (see FIGS. 5A-5B), which is widened for protective purposes.

[0075] As shown by a comparison of Figures 7C and 7D, the chain links 700A, 700B have different rotational directions for their respective joint receptacles 730A or 730B, which are configured for either a clockwise rotational direction R1 or a counterclockwise rotational direction R2. All joint heads 720 remain identically configured. The joint heads 720 and the joint receptacles 730A and 730B, respectively, allow for the desired axial longitudinal displacement relative to one another while also predetermining the desired relative rotation. To this end, the inner surfaces of the joint receptacles 730A, 730B and the joint heads 720 also interact to act as a kind of rotational or forced guide, which accordingly predetermines the rotation of the two connected chain links 700A, 700B during extension or contraction in this exemplary embodiment. The joint heads in Figures 7A-7D are now referred to as Figures 7A-7D. 2C The basic shape is a roughly triangular shape corresponding to the one shown in FIG.

[0076] FIG. 8 shows a structure for a central piece 800 (FIGS. 6B-6C) for connecting subsections 11A, 11B, i.e., by its end chain links 700A or 700B in the central region of the variable-length section 11 between the subsections 11A, 11B. The basic structure is similar to that shown in FIGS. 7A-7D, and in particular comprises a two-part core 810 consisting of a first part 810A and a second part 810B, which are fixed to one another based on a plurality of identical shell segments 71, here four, as described above in connection with FIGS. 7C-7D. The core 810 has or forms one of two complementary joint receptacles 730A or 730B at each of its two longitudinal ends for connection with the joint heads 720 of the connected chain links 700A or 700B, respectively. In this way, the extension length L2-L1 is increased compared to a simpler rigid connection of the subsections 11A, 11B.

[0077] The central piece 800 further includes strain relief elements 840 that are fastened to both sides of the core 810 in an interlocking and non-interlocking manner, for example, by threading here. Each strain relief element 840 has a plurality of T-shaped holders protruding axially on both sides for fastening lines to the central piece 800 using, for example, cable ties, and relieving tension therein. The strain relief elements 840 may be threaded together as two identical clip-like parts and engage around the core 810 to simultaneously achieve further fastening of its components 810A, 810B relative to each other. The central piece 800 shown here consists of only four components, excluding the screws: the core 810 components 810A, 810B, two pairs of shell segments 71, and two strain relief elements 840. These components, like the components of the links 700A, 700B, are preferably made by plastic injection molding. FIG. 8 also shows a passage opening 825 in the central piece 800 for the rope-like restoring element 300 (not shown in FIGS. 6-9).

[0078] 9 shows an end piece 900 for connecting each longitudinal end of a variable-length section 11 from a chain link 700A or 700B to a joint socket of a conventional chain link in the structure of EP 1 616 376 or U.S. Pat. No. 7,439,446 (=WO 2004 / 093279), respectively, the teachings of which are incorporated herein by reference. For this purpose, a core 910 consisting of two parts 910A, 910B has a joint head 720 at one axial end for connection with a joint receptacle 730A or 730B of a chain link 700A or 700B, respectively, and a ball-shaped joint head 90 known per se from EP 1 616 376 or U.S. Pat. No. 7,439,446 (=WO 2004 / 093279) at the other axial end. End pieces 900 of the same structure can be used at both ends of the variable-length section 11, as required. Furthermore, on the inside, the end piece 900 forms a clamping collar 927, which is coaxially opposed to the components 910A, 910B, of a rope clamp having transverse ribs for fastening the axial end of the rope-like restoring element 300. The end piece 900 can simultaneously clamp the end of the restoring element 300 (not shown) without an additional clamping ring, as shown in FIGS. 5A-5B. Like the clamping ring 302, the rope clamp formed by the clamping collar 927 can be used to adjust the pretension of the restoring element 300, which is then correspondingly pretensioned before being axially fastened to the end piece 900. For this purpose, a combination with clip-like strain relief elements 840 is advantageous, which, as a clamping clip, can tension the components 910A, 910B relative to each other using a threaded connection. Therefore, the two clip-like strain relief elements 840 are also preferably engaged around the two clamping collars 927.

[0079] Figures 10A-10B show a further chain link 100 for a variable length section 11 according to Figure 1A. This variant differs from the previous example on the one hand in the oval basic shape of the joint head 120 and in the corresponding configuration of the joint receptacles 130 (only one of the two is shown here). Furthermore, Figure 10B shows an alternative example for fixing the multi-part core 110 of two parts 110A, 110B by snap-fit ​​connections of arm-like protrusions 111 on either side of the parts 110A, 110B in corresponding receptacles 112 of the shell segment 71, otherwise corresponding for example to Figures 7-9.

[0080] A similar variant is shown in Figure 11, but here a tubular, circumferentially closed line guide device 10 is implemented. The chain link 1100 here consists essentially of two molded parts 1100A, 1100B, which are connected to each other via a tongue-and-groove joint at the web border and / or fixed by an additional fastening element 1111. Otherwise, the construction may correspond to one of the above-mentioned exemplary embodiments, in particular with regard to the articulation of the chain link 1100.

[0081] 12A-12E show a further chain link 1200 having two interchangeable multi-piece inserts 1250A, 1250B (FIGS. 12D, 12E) for the joint receptacle 1230A or 1230B, respectively, for the joint head 1220 (shown here in FIG. 7). They selectively predetermine one of two opposite rotation directions R1, R2. The inserts 1250A, 1250B are here, for example, multi-piece, each of three individual parts, preferably injection-molded in the form of a fan of rings. The inserts 1250A, 1250B may be snap-fitted by axial insertion into a receptacle 1260 configured as a holder in the core of the chain link 1200. The multi-piece structure can significantly simplify production by injection molding, especially if the main body of the chain link 1200 is manufactured in one piece. Each of the two inserts 1250A, 1250B forms one of two receptacles 1230A, 1230B for relative rotation in opposite directions, here clockwise or counterclockwise, with respect to the respective subsection 11A, 11B. By axial locking, the joint head 1220 together with the inserts 1250A, 1250B attached thereto may be axially inserted into a holder 1260 in the core of the adjacent chain link 1200, which may simplify assembly. Otherwise, the structure is the same as that shown in FIGS. 2C and, among other things, has three radial webs 1202 connecting a circumferentially closed shell 1201 to a core 1210.

[0082] 13A-13B show a modified version of the chain link 1300 according to Figures 2-3. The desired relative rotation is provided by the radially outer guide parts, here outer rotation guide protrusions 1320 and inner rotation guide recesses 1330, which are similar to the threads in the shell parts of the chain link 1300. The rotation guide recesses 1330 or the rotation guide protrusions 1320 can be realized as obliquely or spirally extending grooves and engaging protrusions in the overlapping areas of the shell segments.

[0083] The axial stops can here also be implemented in the shell parts as shown in Figures 2 to 3. Thus, the chain link 1300 does not have a joint head or joint receptacle in the core, as in Figures 2 to 3 for example.

[0084] As the exemplary embodiment shows, the variable length section 11 can be realized by links of various constructions, all of which are rotatable relative to each other in pairs about the longitudinal direction L and interconnected in a longitudinally adjustable manner. The restoring element 300 can also be implemented in various ways and does not necessarily have to be provided longitudinally coaxially or as an expander rope. [Explanation of symbols]

[0085] Figures 1A-1D 1. Industrial robots 2, 3 connection points 10 Line guide device (energy chain) 11 Variable-length part (first part) 12 3D deflectable part (second part) Figure 2A~ 2C , Figures 3A-3C, Figure 4 200 chain links 201 Shell 202 Web 203 Chamber / Containment Space 205 Rim (stop) 207 Annular Collar (Limit Stop) 210 cores 220 Joint Head 221 sides (joint head) 222 vertices / points 223 Jhana L 2 30 Joint Receptacle 232 Inner surface (joint receptacle) 300 Restoration Elements 302 Clamping ring L Longitudinal axis (longitudinal direction) S1, S2 spiral pathway Figures 5A-5B 11A First Subdivision 11B Second Subdivision 200A, 200B chain link 250 center piece d Axial play / relative adjustment amount R1, R2 rotation direction L1 length, contraction L2 length, extension Figures 6A to 6G, Figures 7A to 7D, Figures 8 to 9 11 Variable-length portion 11A First Subdivision 11B Second Subdivision 60 lines 71 shell segments 71A, 71B insertion opening 72 Web 90 Joint head (conventional) 61A, 61B Helix coil / helical pathway 700A, 700B chain links 710 cores 710A, 710B core parts 711 Split body (fixing shaft) 712 Receptacle 720 Joint Head 725 Passage opening 730A, 730B joint receptacle 733 Retaining rim (axial stop) 800 center piece 810 Core (center piece) 810A, 810B core parts (components) 825 Passage opening 840 strain relief element 900 End piece 910 Core (end piece) 910A, 910B components 927 Tightening shell (rope clamp) R1, R2 rotation direction L1 / L2 length, contraction / extension 10A-10B, FIG. 11 100 chain links 110 cores 110A, 110B core parts 120 Joint head (oval) 130 Joint Receptacle 1100 Chain Link 1100A, 1100B molded parts 1111 Fixing elements Figures 12A to 12E 1200 Chain Link 1201 Shell 1202 Web 1210 cores 1220 Joint Head 1230A, 1230B joint receptacle 1250A, 1250B Insertion Part (for joint receptacles) 1260 Receptacle (for insertion part) Figures 13A-13B 1300 Chain Link 1320 Rotation guide protrusion 1330 Rotation guide recess

Claims

1. A line guide device (10) for guiding a line such as a cable, hose, etc. between a first connection point (2) and a second connection point (3) movable relative to the first connection point, particularly in a robot (1) with multiple degrees of freedom, comprising: a plurality of links forming a receiving space for the line, arranged successively in a longitudinal direction (L) and articulatedly interconnected by respective articulation joints, the articulation joints allowing three-dimensional deflection of the connected links relative to one another; At least one elastic resilient element (300); Equipped with The line guide device comprises a variable length portion (11) comprising a plurality of links (200A, 200B; 700A, 700B) interconnected to be rotatable relative to one another about the longitudinal direction (L) and longitudinally adjustable relative to one another with respect to an extension of the variable length portion (11) in the longitudinal direction (L), the restoring element (300) is elastically longitudinally extensible and is arranged to exert a restoring force on the adjustable length portion (11) that opposes the extension of the adjustable length portion (11); Line guide device.

2. 2. The line guide device according to claim 1, wherein the links (200A, 200B; 700A, 700B) of the variable length section (11) are articulated and / or connected or connectable such that longitudinal adjustment of two links (200A, 200B; 700A, 700B) relative to one another results in their relative rotation (R1, R2).

3. the connections of successive links (200A, 200B; 700A, 700B) of each of the variable length sections (11) are configured such that the longitudinal adjustment of two links relative to one another predetermines their relative rotation in one or the other rotational direction around the longitudinal direction (L) as a function of direction, 2. The line guide device according to claim 1, wherein the connection portion comprises a rotation guide that, in particular, causes relative rotation of the two links (200A, 200B; 700A, 700B) in a first rotation direction (R1) during longitudinal extension adjustment of the two links, and causes relative rotation in the opposite direction during longitudinal restoration adjustment of the two links.

4. 4. The line guide device according to claim 1, wherein the variable length portion has a first sub-portion (11A) in which the connected links (200A; 700A) rotate relative to each other in a first rotational direction (R1) when extended, and a second sub-portion (11B) in which the connected links (200B; 700B) rotate relative to each other in a second rotational direction (R2) opposite to the first rotational direction when extended.

5. the at least one restoring element (300) is arranged to apply a pretension in the longitudinal direction, the pretension causing the variable length portion to contract; and / or 5. The line guide device according to any one of claims 1 to 4, wherein the at least one elastic resilient element (300) is realized as a rope or band, the resilient element comprising or being a rubber cable, preferably having a rubber thread and / or rubber band and a braided cover.

6. 6. The line guide device according to claim 5, wherein an adjusting device for adjusting the pretension of the restoring element (300) is provided in at least one end region of the variable length section (11), in particular in an end link (200; 900) of the variable length section.

7. 7. A line guide device according to any one of claims 1 to 6, in particular as claimed in claim 4, wherein a central piece (250; 800) is provided between two sub-sections (11A, 11B) of the variable length section, the central piece (250; 800) having a strain relief (840) for the line (60) to be guided and / or preferably having a structural length greater than the structural length or pitch of the plurality of links of the variable length section (11), and / or the central piece (250; 800) is connected, in particular at each of its longitudinal ends, to one of the sub-sections (11A, 11B) which can rotate in opposite directions, in particular via respective opposing rotation guides (730A, 730B).

8. at least each of the links (200A, 200B; 700A, 700B) of the variable length portion (11) has a central core (210; 710) with a central passage opening (725) through which the elastic resilient element (300) is threaded; and / or 8. A line guide device according to any one of claims 1 to 7, in particular according to claim 3 or 5, wherein the core (210; 710) comprises guide elements (220, 230; 720, 730) of a rotation guide and / or the core (210; 710) predetermines, as a function of direction, the relative rotation in one or opposite rotational directions about the longitudinal direction when the two links are adjusted relative to each other in the longitudinal direction.

9. 9. A line guide device according to any one of claims 1 to 8, in particular claim 8, wherein at least the links (200A, 200B; 700A, 700B) of the variable length section (11) each have a central core (210; 710) forming a joint head (220; 720) and the longitudinally opposed joint receptacles, the joint receptacles being aligned and configured for articulation with the joint head of the next link, the joint head and the joint receptacles preferably forming rotation guides for predetermining relative rotation, in particular by one or more spirally extending guide surfaces (232) inside the joint receptacles, which guide surfaces interact with one or more guide elements at the joint head (220; 720) to predetermine the relative rotation.

10. the joint head (220; 720) has a basic shape of approximately triangular cross section, preferably with arc-shaped rounded sides (221), the three vertices (222) of which are guided as guide elements facing corresponding spirally extending guide surfaces (232) inside the joint receptacle, or the joint head (120) has a basic shape of a substantially elliptical cross section, the two main vertices of which are guided as guide elements by corresponding spirally extending guide surfaces inside the joint receptacle (130); and / or 10. The line guide device according to claim 9, wherein the joint head and the joint receptacle are longitudinally adjustable and relatively rotatable, forming an articulated connection that can be pivoted about at least two axes perpendicular to the longitudinal direction for three-dimensional mutual deflection of the connected links, and in particular the basic shape surface of the joint head is concave in longitudinal cross section, in particular corresponding to a radius of curvature for three-dimensional deflection.

11. The central core (710), at least the joint receptacle, is formed by two separate components (710A, 710B) connectable to each other; or 11. The line guide device of claim 9 or 10, wherein the joint receptacle is formed by at least two separate insert parts (1250A, 1250B) attached to the core within the receptacle, each insert part preferably having a spirally extending inner surface.

12. 12. A line guide device according to any one of claims 1 to 11, wherein at least the links (700A, 700B) of the variable length portion (11) or all of the links each have a central core with at least two substantially radial webs (72), whereby at least one shell segment is held so as to radially delimit the accommodating space, the shell segment (71) being preferably arranged in a pivotable manner upward and / or having a flexible structure, and forming an insertion opening (71A, 71B) between the two shell segments (71).

13. 13. The line guide device according to claim 12, wherein at least in the variable length section (11), the shell segments (201; 1201) form a circumferentially and longitudinally closed tube, and the connection of each successive link comprises a rotation guide (1320, 1330) in the shell segment.

14. 14. A line guide device according to any one of claims 1 to 13, wherein each of the longitudinally adjustable connections in the longitudinal direction comprises at least two longitudinal stops (733) that limit the longitudinal adjustment of the two links in both directions, the longitudinal stops (733) being formed on the central core (710) and / or on the shell segments, preferably both longitudinal stops being formed by joint receptacles (730A, 730B) on the core (710).

15. 15. The line guide device according to claim 14, wherein the longitudinal play of the longitudinally adjustable connection is at least 20%, preferably at least 30% and in particular not more than 45% of the link pitch or axial structural length of the links (200A, 200B; 700A, 700B) of the central core.

16. Further comprising at least one line (60) guided in the line guide device (10), 16. The line guide device according to any one of claims 1 to 15, wherein the at least one line is arranged to extend in a helical plane or spiral in the variable length portion.

17. A robot (1), in particular an industrial articulated arm robot, characterized by a line guide device (10) according to any one of claims 1 to 16.

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