A line-holding assembly and a robot system

Abstract

The invention relates to a line-holding assembly (10) for a robot system (1), the line-holding assembly extending in an axial direction (A) and comprising a first holding part (20) configured to be pivotably coupled to a second holding part (30), wherein the second holding part is configured for attachment to the robot system, wherein the first holding part comprises a first inner portion (21) having a first surface portion (22) defining a first hole portion (41) of a central through-hole (40) for accommodating at least one line (3), the central through-hole extending in the axial direction, and further a first outer portion (23) linked to the first inner portion, wherein the first outer portion is arranged relative to the first inner portion to define a first space portion (43) of a peripheral through-space (44) for accommodating one or more additional lines (4), the peripheral through-space extending in the axial direction; wherein the second holding part comprises a second inner portion (31) having a second surface portion (32) defining a second hole portion (42) of the central through-hole (40), and further a second outer portion (33) linked to the second inner portion, wherein the second outer portion is arranged relative to the second inner portion to define a second space portion (45) of the peripheral through-space; and wherein the first holding part is further configured to move between an open state (60) and a line-holding state (62), in which the central through-hole is defined by the first and second surface portions.

Description

[0001] A LINE-HOLDING ASSEMBLY AND A ROBOT SYSTEM

[0002] TECHNICAL FIELD

[0003] The present invention relates to a line-holding assembly for cables or similar components. In particular, the present invention relates to a line-holding assembly for managing cables or similar components within a robot system, including at least one industrial robot, as well as a robot system incorporating such a line-holding assembly.

[0004] BACKGROUND

[0005] Industrial robots frequently include multiple cables routed through their structures to enable power and signal transmission. In certain applications, such as paint robots, internal cable routing may often be preferred due to cleanliness requirements and the need to operate in potentially explosive environments. Routing cables internally helps to shield the cables from external contaminants but may present challenges related to wear and durability. When the robot moves by articulating its joints, the varying path lengths of the cables result in movement, which may contribute to wear over time.

[0006] To address such challenges, simple clamps are commonly used to stabilise cables. Such clamps generally comprise a steel loop with a plastic or rubber lining and are secured to the robot structure by a single bolt. While such clamps may provide basic fixation, they are not tailored to accommodate the dynamic variations in cable paths caused by robotic motion. Such limitations can result in axial movement of the cables, increasing the potential for wear and damage.

[0007] In view of these challenges, there remains a need for an improved line-holding assembly. Furthermore, there remains a need for an improved line-holding assembly for holding lines, such as cables, in a robot system. SUMMARY

[0008] In view of the above, it would be desirable to provide an improved assembly for managing lines in a robot system, in which the stabilisation of lines can be performed in a more reliable, durable, and efficient manner.

[0009] The object is at least partly achieved by a line- holding assembly according to independent claim 1, and the present invention as defined in the other independent claims. The dependent claims relate to advantageous examples and embodiments.

[0010] According to a first aspect of the present invention, there is provided a line- holding assembly for a robot system. The line-holding assembly extends in an axial direction and comprises a first holding part configured to be pivotably coupled to a second holding part, wherein the second holding part is configured for attachment to the robot system, wherein the first holding part comprises a first inner portion having a first surface portion defining a first hole portion of a central through-hole for accommodating at least one line, the central through-hole extending in the axial direction, and further a first outer portion linked to the first inner portion, wherein the first outer portion is arranged relative to the first inner portion to define a first space portion of a peripheral through-space for accommodating one or more additional lines, the peripheral through-space extending in the axial direction; wherein the second holding part comprises a second inner portion having a second surface portion defining a second hole portion of the central through-hole, and further a second outer portion linked to the second inner portion, wherein the second outer portion is arranged relative to the second inner portion to define a second space portion of the peripheral through-space; and wherein the first holding part is further configured to move between an open state and a line-holding state, in which the central through-hole is defined by the first and second surface portions.

[0011] The term "line" typically refers to various conduits or pathways designed to carry different mediums, such as fluids, gases, electrical signals, or data. The term includes, but is not limited to, cables, hoses, and tubing. Examples of lines include electrical lines, fluid lines, pneumatic lines, material lines (e.g., paint lines), communication and control lines, fibre optic cables, vacuum or suction hoses, and hydraulic hoses. The invention is at least partly based on the insight that the process of managing multiple lines, such as cables and hoses, within a robot system may result in increased wear and damage, particularly when subjected to dynamic motions of the robotic arm. Conventional clamps may fail to adequately stabilise cables, especially fragile ones, and may lack the versatility to prevent axial movement while maintaining separation between different lines.

[0012] By the proposed line-holding assembly, it becomes possible to improve the durability and reliability of cable management in a robot system. The proposed line-holding assembly may also enable a more secure positioning of cables in a central location, reducing axial movement and ensuring that fragile cables are positioned in a preferential area away from any edges of the components making up the robot structure. Additionally, the line-holding assembly provides separation between centrally located cables and peripheral hoses, thereby reducing contact and potential wear or damage.

[0013] The complementary design of the first and second holding parts forms a central through-hole for accommodating cables and a peripheral through-space for additional lines, ensuring flexibility and effective organisation of cables. The pivotable coupling between the holding parts allows the assembly to transition between an open state and a line-holding state, facilitating easy installation and removal of cables. As further described herein, the line-holding assembly can accommodate various configurations of cables and hoses, supporting a wide range of robot applications, including navigation, manipulation, and specialised operations such as painting.

[0014] By improving the reliability of cable management, it becomes possible for the robot system to operate more effectively in demanding environments. The invention also contributes to reducing maintenance costs by extending the lifespan of cables and hoses through reduced wear and enhanced separation.

[0015] To this end, there is provided a line-holding assembly configured to securely hold cables in a central position while providing peripheral separation for additional lines, supporting improved operational reliability and versatility of the robot system. The peripheral through-space may at least partly be defined by the arrangement of the first outer portion relative to the first inner portion and the arrangement of the second outer portion relative to the second inner portion. Such arrangement may provide an appropriate geometry for the peripheral through-space, facilitating efficient accommodation of additional lines while maintaining separation from centrally positioned lines. This may further reduce the risk of wear caused by line contact.

[0016] Optionally, at least one of the first surface portion and the second surface portion may comprise a surface segment configured to restrict axial movement of a line arrangement accommodated in the central through-hole in the line-holding state. By restricting axial movement of lines, the surface segment may further improve stabilisation and reduce dynamic stresses on the lines, particularly during robot movement, thus reducing wear and extending the lifespan of the lines.

[0017] The surface segment maybe a corrugated area extending a substantial part in the axial direction, such as at least 20 % of an axial dimension of the central through- hole. A corrugated surface enhances grip on the lines, further restricting axial movement and providing improved mechanical stability. The axial extension ensures that such stabilisation effect is consistent over a larger contact area.

[0018] The first outer portion may be linked to the first inner portion by a wall segment. In addition, or alternatively, the second outer portion may be linked to the second inner portion by a corresponding wall segment. Such arrangement of the wall segments may contribute to improved structural integrity and provide a well-defined boundary for the peripheral through-space, ensuring robust support for additional lines while maintaining separation from central lines.

[0019] The first and second holding parts maybe clamp-shaped holding parts. A clampshaped design allows for a less complex process of securing lines while ensuring a firm grip. Such configuration may thus facilitate quick installation and removal, making the assembly adaptable for various operational needs.

[0020] The first holding part maybe a single piece, and the second holding part maybe a single piece. A single-piece construction of each holding part may reduce manufacturing complexity. A single-piece construction may also enhance durability by eliminating weak points. The first and second holding parts may be configured to provide a tight-fit configuration around the at least one line positioned in the central through-hole when the first holding part is in the line-holding state with the second holding part. Such the tight-fit configuration may provide a more secure stabilisation of centrally positioned lines, reducing vibrations and movement during robot operation, thereby further reducing wear and potential damage.

[0021] The line-holding assembly may comprise a fastener system configured to attach at least one of the first and second holding parts to the robot system. The inclusion of a fastener system enables secure and stable attachment of the assembly to the robot system, ensuring that the lines remain properly positioned during operation without risk of displacement.

[0022] Typically, each one of the first and second holding parts may comprise one or more complementary through-holes adapted to accept a fastener part of the fastener system for attachment to the robot system. The incorporation of complementary through-holes may facilitate alignment and attachment of the holding parts to the robot system, contributing to a more precise installation and reliable operation. The complementary through-holes typically extends in the axial direction of line-holding assembly.

[0023] The complementary through-holes may be arranged on outermost regions of the first and second holding parts, respectively. The positioning of the complementary through-holes in the outermost regions allows for easier access during installation and provides mechanical stability by distributing forces along the axial direction. The complementary through-holes may be arranged on outermost regions of the first and second holding parts and further extend in the axial direction.

[0024] The line-holding assembly may comprise a locking mechanism configured to lock the first holding part to the second holding part so as to provide the line-holding state. The inclusion of a locking mechanism may further provide that the holding parts remain securely engaged, thus reducing the risk of unintended disassembly.

[0025] The line-holding state may be obtained by positioning a slot disposed in the first holding part in a coaxial arrangement with a locking mechanism through-hole of the second holding part, and lock the first holding part to the second holding part by engagement of the locking mechanism. A coaxial arrangement allows for a less complex locking process, while providing a relatively accurate engagement between the components and maintaining the integrity of the line-holding state under operational loads.

[0026] The first holding part may comprise the slot for permitting the part of the locking mechanism to lock the first holding part to the second holding part. The incorporation of a slot provides a precise and secure locking of the parts of the assembly, enabling easy assembly and disassembly while maintaining stability in the line-holding state. The slot may e.g. be a radial slot.

[0027] By way of example, the second holding part may comprise an entry opening and an exit opening for a cable tie. The provision of entry and exit openings for a cable tie may enhance the versatility of the assembly by allowing additional securing options, improving adaptability to different line configurations.

[0028] According to a second aspect of the invention, there is provided a robot system comprising a line-holding assembly according to the first aspect of the invention. The line-holding assembly is attached to a part of the robot system for holding one or more lines. The integration of the line-holding assembly into a robot system allows for improving the overall operational reliability and versatility of the robot system, ensuring efficient management of lines during dynamic operations while reducing the risk of line damage. The second aspect of the invention may seek to solve the same problem as described for the first aspect of the invention. Thus, effects and features of the second aspect of the invention are largely analogous to those described above in connection with the first aspect of the invention.

[0029] Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. The skilled person realizes that different features of the present invention maybe combined to create embodiments other than those described in the following, without departing from the scope of the present invention.

[0030] BRIEF DESCRIPTION OF THE DRAWINGS

[0031] These and other aspects of the present invention will now be described in more detail, with reference to the appended drawings showing example embodiments of the invention, wherein: Fig. 1 is a perspective view of parts of a robot system, in which a line-holding assembly for holding cables is affixed to a robot arm of the robot system, according to an example;

[0032] Fig. 2 is an exploded view of the line-holding assembly in Fig. 1, according to an example;

[0033] Fig. 3 illustrates an open state of the line-holding assembly in Fig. 1;

[0034] Figs. 4 to 5 illustrate parts of the line-holding assembly in Figs. 1 to 3, according to an example; and

[0035] Fig. 6 illustrates additional features of a line-holding assembly according to an example.

[0036] The drawings are schematic and not drawn to scale.

[0037] DETAILED DESCRIPTION

[0038] In the present detailed description, various embodiments of a line-holding assembly are mainly described with reference to a robot system comprising an industrial robot. However, the described line-holding assembly may be suitable for other types of installations outside the field of robot systems, and may also be suitable for incorporations in robot system comprising other types of robots. Moreover, the described line-holding assembly maybe suitable for holding different types of lines, including, but not limited to, cables, hoses and tubing. Examples of lines include electrical lines, fluid lines, pneumatic lines, material lines (e.g., paint lines), communication and control lines, fibre optic cables, vacuum or suction hoses, and hydraulic hoses. The same or similar reference numerals will be used to denote the same or similar structural features.

[0039] Referring to Fig. 1, parts of a robot system 1 are illustrated according to one example. The robot system 1 here comprises a robot arm arrangement 2. The robot system 1 is here an industrial robot system comprising an industrial robot. The industrial robot may for example operate in a hygienic environment to handle food, beverages or pharmaceuticals. In Fig. i, the robot arm arrangement 2 comprises a body part 6. As can be seen from Fig. 1, the body part 6 includes an outer circumferential solid part and an inner hollow space configured to guide multiple lines 3, 4 running through the body part 6 of the robot in the robot system 1. In the following example, the lines 3, 4 are cables, such as electric cables configured to transfer current. In other examples, the lines 3, 4 may transfer signals, such as communication signals. The arrangement of cables 3, 4 running through the robot, or along the robot arm arrangement 2, is particularly advantageous for paint robot systems, where cables are often routed internally due to cleanliness requirements and considerations for operating in explosive environments. Routing cables internally in the robot system 1 may lead to wear on the cables. When the robot arm arrangement 2 moves by articulating its various joints, the path lengths of the cables change. Such change in path lengths causes movement, which may result in wear over time.

[0040] In Fig. 1, the robot system 1 comprises a line-holding assembly 10. The line-holding assembly 10 is here used to stabilise the cables 3, 4 to minimize, or at least reduce, wear on the cables. The line-holding assembly 10 is attached to the body part 6 of the robot arm arrangement 2. The line-holding assembly 10 can be attached to any part of the robot system 1 for holding one or more cables 3, 4. In Fig. 1, the line-holding assembly 10 is arranged and configured to hold multiple cables 3, 4 of different size and type.

[0041] One example of the line-holding assembly 10 will now be further described with reference to Fig. 1 in conjunction with Fig. 2. Fig. 1 illustrates an example of the lineholding assembly 10 attached to the robot arm arrangement 2 of the robot system 1, and wherein the line-holding assembly 10 is in a line-holding state 62 to accommodate the cables 3, 4, while Fig. 2 is an exploded view of the line-holding assembly 10 in Fig. 1. The line-holding assembly 10 has an extension in an axial direction A, which here corresponds to a longitudinal direction Y. Moreover, the lineholding assembly 10 has an extension in a transverse direction X, and an extension in a vertical direction Z. The directions X, Y, and Z define a conventional Cartesian coordinate system, where the directions are mutually perpendicular.

[0042] As shown in Fig. 1, the axial direction A of the line-holding assembly 10 corresponds to an axial direction Al of the robot arrangement 2 when the line-holding assembly 10 is attached to the robot arm arrangement 2. The line-holding assembly io is here attached to the body part 6 such that the axial direction A (longitudinal direction Y) of the line-holding assembly io corresponds to the axial direction Al of the robot arm arrangement 2. In the attached state of the line-holding assembly io relative to the robot system i, the line-holding assembly io provides a reliable and durable configuration for managing lines.

[0043] In Fig. i, the line-holding assembly io accommodates both centrally positioned cables 3 and additional cables 4 in the peripheral of the line-holding assembly 10. As seen in Fig. 2, the line-holding assembly 10 thus comprises a central through-hole 40 for accommodating at least one line 3. The central through-hole 40 extends in the axial direction A. As shown in Fig. 2, the central through-hole 40 also extends in a radial direction. Thus, the central through-hole 40 extends in the transverse direction X and in the vertical direction Z of the line-holding assembly 10. The central through-hole 40 has a circular cross section. Other shapes of the central through-hole 40 may also be conceivable, such as oval and rectangular shaped designs. The central through- hole 40 extends completely through the line-holding assembly 10 in the axial direction A. Accordingly, in Figs. 1 and 2, the central through-hole 40 defines cylindrical inner volume of the line-holding assembly 10.

[0044] Moreover, as seen in e.g. Fig. 2, the line-holding assembly 10 comprises a peripheral through-space 44 for accommodating the one or more additional cables 4. In Fig. 1, the number of cables is six. In other examples, the number of cables 4 maybe less, such as one cable, two cables etc. The number of cables 4 may also be greater depending on type of cables and type of assembly 10. The peripheral through-space 44 extends in the axial direction A. As shown, the peripheral through-space 44 also extends in the radial direction. Thus, the peripheral through-space 44 extends in the transverse direction X and in the vertical direction Z. The peripheral through-space 44 extends completely through the line-holding assembly 10 in the axial direction A. The peripheral through-space 44 can be designed in several different ways. In Figs. 1 and 2, the peripheral through-space 44 is provided in the form of a set of defined half-circular segments. The half-circular segments are arranged peripherally outside the central through-hole 40 and extend along the axial direction A. The term “peripherally outside” here typically means that the peripheral through-space 44 is localised radially outside the central through-hole 40. Such configuration ensures that the peripheral through-space 44 is divided into discrete regions, each shaped to accommodate one or more additional cables 4. The half-circular arrangement of the peripheral through-space 44 provides both structural organisation and separation for the cables, reducing the risk of contact and wear during operation.

[0045] The configuration and arrangement of the central through-hole 40 and the peripheral through-space 44 are here defined by complementary first and second holding parts 20, 30. As such, the line-holding assembly 10 comprises the first holding part 20 and the second holding part 30. The first and second holding parts 20, 30 are here clampshaped holding parts. Moreover, each one of the first and second holding parts 20, 30 is a single piece. A configuration provided by two single pieces allows for a less complex manufacturing and assembly.

[0046] The first and second holding parts 20, 30 will now be further described in relation to Figs. 3 to 6, in conjunction with Figs. 1 and 2. As shown in e.g. Figs. 3 and 5, the first holding part 20 comprises a first inner portion 21 having a first surface portion 22 defining a first hole portion 41 of the central through-hole 40. The first holding part 20 further comprises a first outer portion 23 linked to the first inner portion 21. The first outer portion 23 is arranged relative to the first inner portion 21 to define at least a first space portion 43 of the peripheral through-space 44. The first space portion 43 extends in the axial direction A. The first space portion 43 of the peripheral through- space 44 is configured to accommodate one or more additional cables 4.

[0047] Analogously, as shown in e.g. Figs. 3 and 4, the second holding part 30 comprises a second inner portion 31 having a second surface portion 32 defining a second hole portion 42 of the central through-hole 40. The second holding part 30 further comprises a second outer portion 33 linked to the second inner portion 31. The second outer portion 33 is arranged relative to the second inner portion 31 to define a second space portion 45 of the peripheral through-space 44. As shown in Figs. 1 to 3, the second space portion 45 of the peripheral through-space 44 complements the first space portion 43 of the peripheral through-space 44.

[0048] Accordingly, the peripheral through-space 44 is at least partly defined by the arrangement of the first outer portion 23 relative to the first inner portion 21 and the arrangement of the second outer portion 33 relative to the second inner portion 31. Moreover, as shown in Fig. 1 in conjunction with Figs. 3 to 5, at least one of the first surface portion 22 and the second surface portion 32 comprises a surface segment 24, 34 configured to restrict axial movement in the axial direction A of at least one cable positioned in the central through-hole 40 in the line-holding state 62. Each surface segment 24, 34 comprises a corrugated area extending a substantial part in the axial direction A. The corrugated area provides enhanced grip and stabilisation for the line. The corrugated area typically has a higher friction coefficient than the other surfaces of the surfaces making up the central through-hole 40. The corrugated area is designed to support in restricting axial movement of the cable 3 positioned in the central through-hole 40 in the line-holding state 62 of the line-holding assembly 10.

[0049] In one example, the surface segment is a corrugated area extending over a substantial part in the axial direction A, such as at least 20% of an axial dimension of the central through-hole 40. Such configuration reduces the extent of the corrugated area while maintaining sufficient axial restriction. In other examples, the surface segment is a corrugated area extending over a substantial portion in the axial direction, such as at least 30% of the axial dimension of the central through-hole 40, still preferably at least 50% of the axial dimension of the central through-hole 40, still preferably at least 80% of the axial dimension of the central through-hole 40. In one example, the corrugated area extends entirely over the central through-hole 40.

[0050] As shown in Fig. 5, the first outer portion 23 is linked to the first inner portion 21 by a wall segment 25. The wall segment 25 extends between the first outer portion 23 and the first inner portion 21. Analogously, as shown in Fig. 4, the second outer portion 33 is linked to the second inner portion 31 by a corresponding wall segment 35. The corresponding wall segment 35 extends between the second outer portion 33 and the second inner portion 31.

[0051] Furthermore, as shown in Figs. 1 and 3, the first holding part 20 is configured to be pivotably coupled to the second holding part 30. Hence, the line-holding assembly 10 here comprises a pivotable coupling. One example of a pivotable coupling is a hinged coupling. Byway of example, the first holding part 20 is hingedly coupled to the second holding part 30, wherein the hinged coupling enables rotational movement about an axis. One example of such a coupling includes a pin-and-hinge arrangement, where a pin passes through aligned holes 81 in both holding parts 20, 30 to allow for pivoting. Other conceivable pivotable couplings may be a snap-fit pivot for tool-free assembly or a rotational axis joint with bushings or bearings to reduce friction and facilitate smoother movement.

[0052] The pivotable coupling between the first holding part 20 and second holding part 30 enables the line-holding assembly 10 to move between an open state 60 and the lineholding state 62. In the line-holding state 62, the first and second holding parts 20, 30 define the central through-hole 40 configured to accommodate at least one cable 3. In the open state 60, the cable 3 is allowed to be inserted or removed from the central through-hole 40. Accordingly, the line-holding assembly 10 is configured to allow for a movement between the open state 60, in which cable(s) can be inserted and removed from at least the central through-hole 40, and the line-holding state 62, in which cable(s) are accommodated within the central through-hole 40.

[0053] Typically, as shown in Fig. 1, in the line-holding state 62, the first and second holding parts 20, 30 provide a tight-fit configuration around the cable 3 positioned in the central through-hole 40. Such configuration provides a further stabilisation, while minimising, or at least reducing vibration or displacement during robot system operation. The tight-fit configuration may further be improved by the use of the surface segments 24, 34 with corrugated areas, respectively.

[0054] As seen in e.g. Figs. 1 and 2, the line-holding assembly 10 further comprises a locking mechanism 70 configured to lock the first holding part 20 to the second holding part 30 to provide the line-holding state 62. The locking mechanism 70 can be provided in several different ways. In Figs. 1 to 6, the locking mechanism 70 is provided in the form of a fastener arrangement 71. The fastener arrangement maybe a bolt or a combination of a nut and a threaded bar. As shown in e.g. Fig. 2, the fastener arrangement 71 comprises a nut 72, a washer 73 and a threaded bar 74. Moreover, the locking mechanism 70 is at least partly provided by a slot 35 of the first holding part, as shown in Figs. 2 to 5. The slot 35 extends axially through the first holding part 20 and is configured to permit parts of the fastener arrangement 71 to engage with the second holding part 30. As such, the first holding part 20 comprises the slot 35 for permitting a part of the locking mechanism 70, such as the fastener arrangement 71, e.g. the nut 72 and the threaded bar 74, to lock the first holding part 20 to the second holding part 30. Byway of example, the slot 32 comprises at least an opening for receiving the part of the locking mechanism, as illustrated in Figs. 2 to 5. The slot 35 is an elongated opening or recess formed in the first holding part 20. Hence, the slot 35 is disposed in the first holding part 20. In one example, the slot 35 is a so-called radial slot, i.e. a slot with an extension in a radial direction from a central axis of the slot. The size of the slot should be appropriate to accommodate the part of the locking mechanism that interacts with it.

[0055] Moreover, as shown in Figs. 3 and 4, the second holding part 30 comprises a through-hole 82a, which is here denoted as a locking mechanism through-hole 82a.

[0056] The line-holding state 62 is thus obtained by positioning the slot 35 in a coaxial arrangement with a locking mechanism through-hole 82a of the second holding part 30, and lock the first holding part 20 to the second holding part 30 by engagement of locking mechanism 70.

[0057] Release of the line-holding state 62 may hence easily be performed by unleashing the nut 72 from the threaded bar 74.

[0058] Referring again to Figs. 1 to 3, the line-holding assembly 10 here comprises a fastener system 90 configured to attach the second holding part 30 to the robot system 1. For example, the fastener system 90 is configured to attach the second holding part 30 to the body part 6 of the robot arm arrangement 2. The fastener system 90 can be provided in several different manners. As shown in Figs. 1 and 2, the fastener system 90 comprises a washer 95, a nut 96, and a threaded bar 97.

[0059] The threaded bar 97 is attached to the body part 6 of the robot arm arrangement 2 in a conventional manner. A surface 6a of the body part 6 typically comprises a complementary threaded hole for receiving the threaded bar 97. Other alternative fastener system may also be conceivable, such as standard bolts for attachment of the assembly 10 to the body part 6 of the robot arm arrangement 2.

[0060] In Figs. 1 to 6, the fastener system 90 cooperates with through-holes 81, 82 of the line-holding assembly 10. In one example, as shown in Fig. 2, each one of the first and second holding parts 20, 30 comprises complementary through-holes 81, 81a, 81b, 82, 82b. As shown in Fig. 4, the second holding part 30 comprises a pair of complementary through-holes 8ia, 82a. In this example, the complementary through-hole 82a is also the locking mechanism through-hole.

[0061] Moreover, as shown in Fig. 5, the first holding part 20 comprises a corresponding complementary through-hole 81, 81b.

[0062] Each one of the complementary through-holes 81, 81a, 81b, 82, 82a is adapted to accept a portion of the fastener system 90, such as part of the threaded bar 97, or parts of a bolt. The complementary through-holes 81, 81a, 81b, 82, 82a are arranged on outermost regions of the first and second holding parts 20, 30. Each one of the complementary through-holes 81, 81a, 81b, 82, 82a extends in the axial direction A. Such configuration facilitates a relatively straightforward attachment of the robot system 1 and enhancing mechanical stability.

[0063] In the line-holding state 62, the complementary through-hole 81b of the first holding part 20 is aligned with the complementary through-hole 81a of the second holding part 30 to allow part of the fastener system 90 to be positioned through the complementary through-hole 81b and the complementary through-hole 81a. Moreover, in the line-holding state 62, the slot 35 is aligned with the locking mechanism through-hole 82a of the second holding part 30.

[0064] Moreover, in cooperation with the fastener system 90, the complementary through- hole 81a and the locking mechanism through-hole 82a allow for attachment of the second holding part 30 to the body part 6 of the robot system 1. In some example, it may be enough with attaching the second holding part 30 to the body part 6 of the robot system 1 through the fastener system 90 and a single through-hole 81a of the second holding part 30.

[0065] In this example, the hinged coupling is provided by the arrangement of the fastener system 90 in the complementary through-holes 81a, 81b of the first and second holding parts 20, 30. In Figs. 1 to 6, the hinged coupling is provided by the arrangement of the positioning of the complementary through-hole 81a of the second holding part 30 about the threaded bar 97, followed by the positioning of the complementary through-hole 81b of the first holding part 20 about the threaded bar 97, and then by the positioning of the washer 95 and fixation of the nut 96 onto the first threaded bar 97. It should also be noted that in some examples, the locking mechanism 70 is an integral part of a fastener system 90. As such, the fastener system 90 comprises a pair of washers 95, 73, a pair of nuts 96, 72, and a pair of threaded bars 97, 74. For example, the fastener system 90 comprises a first threaded bar with a first nut and a first washer on the first threaded bar, and a second threaded bar with a second nut and a second washer on the second threaded bar.

[0066] The threaded bars 97, 74 are attached to the body part 6 of the robot arm arrangement 2 in a conventional manner. A surface 6a of the body part 6 typically comprises complementary threaded holes for receiving the threaded bars 97, 74. Other alternative fastener system and fastener arrangement may also be conceivable, such as standard bolts for attachment of the assembly 10 to the body part 6 of the robot arm arrangement 2.

[0067] In one example, when the locking mechanism 70 is an integral part of the fastener system 90, the locking mechanism 70 comprises one pair of the threaded bar, washer and nut. Moreover, the locking mechanism 70 here comprises the complementary through-hole 82a of the second holding part 30 and the slot 35 of the first holding part 20. As such, byway of example, the first holding part 20 comprises the slot 35 configured to receive a part of the locking mechanism 70, such as the threaded bar 74 of the fastener system. In such example, the threaded bar 74 arranged within the complementary through-hole 82a of the second holding part 30 is configured as a locking mechanism engagement portion. The line-holding state 62 is obtained by positioning the slot 35 in a coaxial arrangement with the complementary through- hole 82a of the second holding part 30 and the threaded bar 74, and inserting the locking mechanism 70, such as a bolt, through the slot 35, causing engagement with the locking mechanism engagement portion of the second holding part.

[0068] Fig. 6 shows further details of one example of the line-holding assembly 10. As depicted in Fig. 6, the line-holding assembly 10 here comprises an entry opening 51 and an exit opening 52 for a cable tie 55. In this example, the second holding part 30 comprises the entry opening 51 and the exit opening 52 for the cable tie 55. The entry and exit openings 51, 52 allow the use of the cable tie 55 to provide additional securing for lines 4, which are accommodated within the peripheral through-space 44. The entry opening 51 and the exit opening 52 are typically provided on top of the line-holding assembly 10, such as on top of the second holding part 30, to act as an anchor for the cable tie 55 to secure one or more lines in the peripheral through space 44 to the second holding part 30.

[0069] The components of the line-holding assembly 10 may be made of a plastic material or of a metal material, depending on the application.

[0070] Although the peripheral through-space 44 is in the illustrated examples oriented symmetric with respect to the central through-hole 40, it may in other embodiments be asymmetric.

[0071] Relative terms such as "below" or "above" or "upper" or "lower" may be used herein to describe a relationship of one element to another element in a particular orientation. It will be understood that these terms are intended to encompass different orientations of the line-holding assembly in addition to this particular orientation. Even though the invention has been described with reference to specific exemplifying embodiments thereof, many different alterations, modifications and the like will become apparent for those skilled in the art. Also, it should be noted that parts of the system may be omitted, interchanged or arranged in various ways, the system and method yet being able to perform the functionality of the present invention. Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

CLAIMS1. A line-holding assembly (io) for a robot system (i), the line-holding assembly extending in an axial direction (A) and comprising a first holding part (20) configured to be pivotably coupled to a second holding part (30), wherein the second holding part is configured for attachment to the robot system, wherein the first holding part comprises a first inner portion (21) having a first surface portion (22) defining a first hole portion (41) of a central through-hole (40) for accommodating at least one line (3), the central through-hole extending in the axial direction, and further a first outer portion (23) linked to the first inner portion, wherein the first outer portion is arranged relative to the first inner portion to define a first space portion (43) of a peripheral through-space (44) for accommodating one or more additional lines (4), the peripheral through-space extending in the axial direction; wherein the second holding part comprises a second inner portion (31) having a second surface portion (32) defining a second hole portion (42) of the central through-hole (40), and further a second outer portion (33) linked to the second inner portion, wherein the second outer portion is arranged relative to the second inner portion to define a second space portion (45) of the peripheral through-space; and wherein the first holding part is further configured to move between an open state (60) and a line-holding state (62), in which the central through-hole is defined by the first and second surface portions.

2. The line-holding assembly of claim 1, wherein the peripheral through space is at least partly defined by the arrangement of the first outer portion relative to the first inner portion and the arrangement of the second outer portion relative to the second inner portion.

3. The line-holding assembly of claim 1 or claim 2, wherein at least one of the first surface portion and the second surface portion comprises a surface segment (24, 34) configured to restrict axial movement of a line arrangement accommodated in the central through-hole in the line-holding state.

4. The line-holding assembly of claim 3, wherein the surface segment is a corrugated area extending a substantial part in the axial direction, such as at least 20 % of an axial dimension of the central through-hole.

5. The line-holding assembly according to any preceding claims, wherein the first outer portion (23) is linked to the first inner portion by a wall segment (25), and / or wherein the second outer portion (33) is linked to the second inner portion by a corresponding wall segment (35).

6. The line-holding assembly according to any preceding claims, wherein the first and second holding parts are clamp-shaped holding parts.

7. The line-holding assembly according to any preceding claims, wherein the first holding part is a single piece, and the second holding part is a single piece.

8. The line-holding assembly according to any preceding claims, wherein the first and second holding parts are configured to provide a tight -fit configuration around the at least one line positioned in the central through-hole when the first holding part is in the line-holding state with the second holding part.

9. The line-holding assembly according to any preceding claims, wherein the line-holding assembly comprises a fastener system (90) configured to attach at least one of the first and second holding parts to the robot system.

10. The line-holding assembly according to claim 9, wherein each one of the first and second holding parts comprises one or more complementary through- holes (81, 81a, 81b, 82, 82b) adapted to accept a fastener part of the fastener system (90) for attachment to the robot system.

11. The line-holding assembly according to claim 10, wherein the complementary through-holes are arranged on outermost regions of the first and second holding parts, respectively.1912. The line-holding assembly according to any preceding claims, wherein the line-holding assembly comprises a locking mechanism (70) configured to lock the first holding part to the second holding part so as to provide the lineholding state.

13. The line-holding assembly according to claim 12, wherein the line-holding state is obtained by positioning a slot (35) disposed in the first holding part in coaxial arrangement with a locking mechanism through-hole (82a) of the second holding part, and lock the first holding part to the second holding part by engagement of the locking mechanism.

14. The line-holding assembly according to any preceding claims, wherein the second holding part comprises an entry opening (51) and an exit opening (52) for a cable tie (55).

15. A robot system (1) comprising a line-holding assembly according to any one of the claims 1 to 14, wherein the line-holding assembly is attached to a part of the robot system for holding one or more lines.

Images