DE102018129970B4 - Housing for a retraction device - Google Patents

Abstract

Housing for a retraction device (13) for a line section (12) on a robot (10), the housing (15) being tubular and having a preferably straight extension and a housing axis (21) along its extension, characterized in that the The housing (15) consists of at least two housing parts (16), each of which has at least one support base (17), the support bases (17) each being positioned transversely to the housing axis (21) relative to the rest of the shape of the housing (15), in particular the housing jacket. protrude and each have at least one planar supporting surface (18) and wherein at least two supporting surfaces (18) of different housing parts (16) together form a planar, supporting and fastening plane (28) of the housing (15).

Description

The present invention relates to a housing for a retraction device for a line section of a robot, as well as a retraction device and a robot with such a retraction device.

In practice it is known to fasten a tubular, straight housing of a retraction device to a robot by means of clamps. The housing and the attachment are not optimally designed.

the DE 10 2014 102 698 A1 shows a retraction device with a split line clamp, which is mounted on a carriage by means of a lower clamp foot and can be surrounded by a double-shell protective cover.

the DE 10 2009 056 454 A1 discloses a power supply with a power supply line that is bent in some areas in a rigid housing with a stiffening traverse that can be folded up at the front and has a split sliding guide clamp for receiving an extendable line section.

It is the object of the present invention to show an improved housing and retraction technique for a line section of a robot.

The invention solves the problem through the features of the independent claims.

The claimed housing can be used to enclose and resiliently attach at least one line section of an external line guide to a robot.

The claimed housing of a retraction device can be attached directly to a robot and/or to at least one other housing.

The housing is tubular. It preferably has a straight extension. This enables a slim and space-saving design. The housing has a housing axis along the preferably straight extension.

The housing can consist of at least two housing parts. A housing part can have at least one support base. Said support base can protrude transversely to the housing axis in relation to the rest of the shape of the housing, in particular the housing casing. A support base can have at least one planar support surface. At least two support surfaces of different housing parts of the housing can together form a planar support and attachment level. A housing can be positioned and fixed in a defined manner on a robot and/or on another housing via one or more support and fastening planes. Due to the overhang of the base, a distance is formed in the assembled position, which ensures good accessibility of the connection points located here between the housing parts.

The defined positioning and fastening of a housing can ensure that a line section is guided precisely and held at a defined tension during the movement of a robot and/or a robot limb. This can prevent a line section from becoming tangled in individual components of a robot and/or being damaged by a movement of the robot. In addition, the interfering contour of the cable routing on the robot is smaller and better defined.

The claimed housing also has advantages in terms of assembly and maintenance work. Assembly and maintenance work on a robot is significantly accelerated and is less prone to errors. In addition, the fastening effort is reduced. Expensive clamps are unnecessary. Furthermore, several housings or retraction devices can be fastened to one another in a defined manner with little effort and the housing package can be mounted on the robot.

When installing a retraction device, the line section with the spring can be installed in the opened housing and the housing can then be closed and attached to the robot. Alternatively, it is possible to first attach a housing part to the robot and then insert the line section with the spring and then mount the second housing part and close the housing. If there is a defect in a line section, it can be quickly removed and replaced by loosening a part of the housing. The housing does not have to be completely dismantled. This is also possible with a package arrangement of several housings. These are accessible individually. As a result, the operational readiness of a robot can be restored particularly quickly, which is of particular advantage for use in fully automatic series production.

The housing and its housing parts can be made of any suitable material, such as plastic or metal. They can, for example, be in the form of injection molded parts or cast metal parts.

A similar design of the housing parts is favorable for manufacturing and cost reasons. A different and complementary design is possible at the connection points. Such housing parts can be of mirror-symmetrical design and can be connected to one another in a correspondingly rotated position to form the housing. Co-operating guide and positioning means on the housing parts, for example intermeshing in a form-fitting manner, are advantageous for rapid connection and assembly.

Further advantageous embodiments of the invention are specified in the subclaims, the accompanying drawings and the following description.

• 1: eine Rückzugsvorrichtung samt eines Leitungsabschnittes und eines Gehäuses,
• 2: ein Längsschnitt der Rückzugsvorrichtung aus 1,
• 3: ein Gehäuse bestehend aus zwei Gehäuseteilen,
• 4: zwei nicht verbundene Gehäuseteile, die zu einem Gehäuse verbunden werden können,
• 5: ein Gehäuseteil in einer Innenansicht;
• 6: ein Gehäuseteil (16) in einer Außenansicht,
• 7: zwei miteinander verbundene Gehäuse,
• 8: ein Gehäuse mit Stützsockeln ausschließlich an einem axialen Ende des Gehäuses (15) und
• 9: einen Robotor mit einer Rückzugsvorrichtung die ein Gehäuse aufweist.

The invention is shown by way of example and schematically in the drawings. These show:

• 1 : a retraction device including a line section and a housing,
• 2 : a longitudinal section of the retraction device 1 ,
• 3 : a housing consisting of two housing parts,
• 4 : two unconnected housing parts that can be connected to form one housing,
• 5 : a housing part in an interior view;
• 6 : a housing part (16) in an external view,
• 7 : two interconnected housings,
• 8th : a housing with support pedestals exclusively at one axial end of the housing (15) and
• 9 : a robot with a retraction device having a housing.

The invention relates to a housing (15) for a retraction device (13) and the retraction device (13) and a robot (10) equipped therewith.

According to 9 a robot (10) can be designed as an industrial robot and have one or more robot links (11) or robot axes. The robot limbs (11) can be articulated to one another. Alternatively, training as a linear robot is possible. Lines are laid along the robot limbs (11).

A line section (12) is resiliently held by means of a retraction device (13) and mounted on the robot (10).

A line section (12) can be used to supply and remove one or more streams. In this context, the term stream can include, for example, an electrical current and/or a material flow, e.g. a fluid. A line section (12) can supply a robot (10) and/or a robot limb (11) and/or any component of a robot (10) and/or an object attached to a robot, preferably a tool, with said current.

The robotic limbs (11) of a robot (10) can move relative to each other. A line section (12) can be preferably defined, guided and/or tensioned via at least one retraction device (13) attached to a robot (10). A line section (12) of a robot (10) can, for example, be guided and optionally tensioned via a retraction device (13) depending on the position of at least one robot member (11) relative to a retraction device (13).

1 shows a retraction device (13) for a line section (12) of a robot (10). The retraction device (13) has a housing (15) which accommodates and guides a line section (12) and, if necessary, tensions it by means of a spring (14). The retraction device (13) can be present several times. When a robot limb (11) moves, a line section (12) can be guided and/or tensioned with a defined force by means of the retraction device (12). The return spring (14) according to 2 be clamped between a spring support (25) on the housing (15) and a collar on the line section (12).

The housing (15) can be tubular and can preferably have a straight extension. The housing (15) has a housing axis (21) along the preferably straight extension. The cross-sectional shape of the housing (15) can be chosen at will. It can, for example, be circular, oval or prismatic.

The housing (15) can consist of two or more housing parts (16). The individual housing part (16) can have at least one support base (17) on the outside. A support base (17) can project transversely to the housing axis (21) in relation to the rest of the shape of the housing (15) or housing part (16), in particular the housing jacket.

In the exemplary embodiments shown, the housing parts (16) are designed in the same way. They each have support bases (17) in the same number, arrangement and design. For example, there are four support bases (17) each.

The respective support base (17) has at least one planar support surface (18) on the outside. The respective support base (17) consists, for example, of two ribs which protrude transversely from the housing jacket and are connected to one another transversely on at least one side. The flat cross connection forms the support surface (18).

At least two supporting surfaces (18) of different housing parts (16) can together form a planar supporting and fastening plane (28) when the housing (15) is closed. A housing (15) can be positioned and fixed in a defined manner on a robot (10) or on another housing (15) via at least one support and fastening plane (28).

A support surface (18) can have at least one receptacle (19) for at least one fastener (22), e.g 3 indicated screw have. The receptacle (19) can have, for example, a slit-like recess (20) open to the outside. A recess can also be designed as a through hole or the like. A receptacle (19) can also have a fastening means (2) that is already attached, in particular molded on.

A support base (17) can protrude in relation to the rest of the shape of the housing (15), in particular the e.g.

As in 3 shown, a support base (17) can have at least one opening (27) on the outside, via which a receptacle (19) and a fastening means (22) there are accessible from the outside.

A support base (17) can be arranged on one or both axial ends of the housing (15) or the housing parts (16). Alternatively or additionally, an arrangement at a different point of the housing (15) is possible.

A housing (15) can be used as in 8th shown for example, have support bases (17) with support surfaces (18) and a support and fastening plane (28) formed by them exclusively at one axial end. Such a housing (15) can perform an oscillating movement around the support bases (17) which are attached to a robot (10) and/or to at least one other housing (15).

A housing (15) can be used as in 3 shown for example, have support bases (17) at the two axial ends of the housing (15) and its housing parts (16). The planar support and attachment level (28) is formed by four support surfaces (18).

A housing (15) with support bases (17) at one or both ends of the housing (15) can be attached to a robot (10) and/or, such as in 7 shown, are positioned and fastened to a further housing (15) in such a way that it is preferably rigidly connected to a robot (10) and/or to at least one further housing (15).

A housing (15) can be used as in 3 shown for example, consist of exactly two housing parts (16). The housing parts (16) of a housing (15) can preferably be detachably connected to one another.

In 4 two non-connected housing parts (16) of a housing (15) are shown as an example. Two housing parts can be connected to one another at at least one connection point (23) using at least one fastening means (22), such as a screwed flange connection (24). Some connection points (23) are arranged on the longitudinal edges of the housing parts (16) distributed between the end-side support sockets (17). The support bases (17) protrude beyond the connection points (23) or their fastening means (22).

The connection points (23) and the fastening means (22) of a housing part can preferably be arranged in such a way that at least two identical housing parts (16) can be connected to form a housing (15) (cf 4 ). The possibility of connecting identical housing parts (16) to form a housing (15) can bring about a reduction in production costs. A housing part can be produced by various production processes, in particular by mass production processes, such as common injection molding processes.

A housing part (16) can be used as in 5 and 6 be designed as an example shell-like and have a closed wall or a shell shape. Alternatively, a housing part (16) can have a lattice structure, for example.

The housing parts (16) of a housing (15) can advantageously be positively connected by means of interlocking projections on their longitudinal edges. The housing (15) or the respective housing part (16) can have, for example, a radial collar-like spring support (25) on the inside for a spring (14) of the retraction device (13). The housing (15) can have a widened guide funnel for the line section (12) on the outside at the axial ends.

As in 4 exemplified, the division level (26) through the connecting Stel len (23) of housing parts (16) of the housing (15) runs parallel to the housing axis (21). The support bases (18) on the housing parts (16) or on the housing (15) each protrude at least in the direction along the parting plane (26) and possibly in the direction transverse thereto over the rest of the housing, in particular over the housing jacket.

As for example in 5 and 6 shown, a housing part (16) can have at least one support base (17) or a support surface (18). Advantageously, there are two support bases (17) or support surfaces (18) on each of the two axial ends. The support bases (17) are each arranged following the longitudinal edge of the housing part (16) or the parting plane (26). The four support surfaces (18), for example, are arranged parallel to one another. The support surfaces (18) lying one behind the other along the housing axis (21), for example two in each case, are arranged flush at the same height.

The support surfaces (18) have, for example, a rectangular shape or any other shape. They extend transversely to the housing axis (21) and to the parting plane (26). The support bases (17) or support surfaces (18) of the connected housing parts (16) arranged adjacent to the mounted housing (15) are aligned with one another.

As in 3 shown, for example, four support surfaces (18) of a housing (15) together form a support and attachment level (28). This can extend across the entire width of the housing transversely to the housing axis (21). The support surfaces (18) of a support and fastening plane (28) can be spaced apart from one another. This is favorable for positioning purposes and can minimize the risk of the attached housing (15) being damaged by external forces. In addition, the connected housing parts (16) can also be held together by the fastening elements (22) on the support surfaces (18).

The housing (15) can have several support and fastening levels (28) on different sides of the housing. For example, the support and attachment planes (28) are arranged on opposite sides of the housing. They can be aligned in parallel. Alternatively or additionally, an arrangement of adjacent supporting and fastening levels (28) across a corner is possible. Several housings (15) can be attached to one another and/or to a robot (10). This enables multiple arrangements of several housings (15) of any size to be implemented. Such a multiple arrangement of housings (15) can have a high degree of rigidity.

As in 4 shown, for example, the support surfaces (18) of a support and attachment plane (28) can be relatively small. As a result, a housing (15) and/or an object to which such a housing (15) is positioned and attached can have a higher manufacturing tolerance.

As in 4 shown, for example, a supporting and fastening plane of the housing (15) can intersect a dividing plane (26) directed along the housing axis (21) and which runs through longitudinal edges and connection points (23) of housing parts (16). The fastening means (22) can be spaced relatively far apart from one another and transversely to the dividing plane (26) as a result of the base design. This increases the support and attachment width and provides a stable attachment option. The fastening means (22) on the support surfaces (18) on both sides of the parting plane (26) provide additional support for the connected housing parts (16) in the transverse and longitudinal directions. Forces occurring between at least one housing (15) and a robot (10) and/or at least one further housing (15) and forces between a line section (12) and its housing (15) can be optimally absorbed.

Various modifications of the invention are possible. In particular, the features shown, described or claimed for the respective exemplary embodiments can be combined with one another, replaced with one another, supplemented or omitted in any way.

Reference List

10

robot

11

robot limb

12

line section

13

retraction device

14

return spring

15

casing

16

housing part

17

support base

18

support surface

19

admission

20

recess

21

housing axis

22

fasteners

23

connection point

24

flange connection

25

spring support

26

split level

27

opening

28

support and attachment plane

Claims (11)

Housing for a retraction device (13) for a line section (12) on a robot (10), the housing (15) being tubular and having a preferably straight extension and a housing axis (21) along its extension, characterized in that the The housing (15) consists of at least two housing parts (16), each of which has at least one support base (17), the support bases (17) each being positioned transversely to the housing axis (21) relative to the rest of the shape of the housing (15), in particular the housing jacket. protrude and each have at least one planar supporting surface (18) and wherein at least two supporting surfaces (18) of different housing parts (16) together form a planar, supporting and fastening plane (28) of the housing (15). housing after claim 1 , characterized in that a supporting and fastening plane (28) of the housing (15) intersects a parting plane (26) directed along the housing axis (21) and running through connection points (23) of housing parts (16). housing after claim 1 or 2 , characterized in that the support surfaces (18) each have at least one receptacle (19), in particular recess (20), for attaching at least one fastening means (22). housing after claim 1 , 2 or 3 , characterized in that the support bases (17) are arranged at least at one axial end of the housing (15). Housing according to one of the preceding claims, characterized in that the support bases (17) project in two directions transverse to the housing axis (21) in relation to the rest of the shape of the housing (15). Housing after one of claims 3 until 5 , characterized in that the support base (17) each have at least one opening (27) through which a receptacle (19) is accessible from the outside. Housing according to one of the preceding claims, characterized in that the housing (15) has a plurality of supporting and fastening planes (28) on different, in particular opposite, sides of the housing. Housing according to one of the preceding claims, characterized in that the housing (15) consists of at least two, preferably shell-like, housing parts (16), wherein the housing parts (16) are of identical design and can preferably be releasably connected. Housing according to one of the preceding claims, characterized in that the housing (15) has a spring support (25) for a spring (14) of the retraction device (13). Retraction device (13) with a housing (15) and a spring (14) for a line section (12), characterized in that the housing according to at least one of Claims 1 until 9 is trained. Robot (10) with a retraction device (13) for a line section (12), characterized in that the retraction device (13) according to claim 10 is trained.

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