Guide system for supply lines and a robot with a guide system

Patent metadata

Field	Value
Publication number	US-9399299-B2
Application number	US-201214009204-A
Country	US
Kind code	B2
Filing date	Mar 29, 2012
Priority date	Apr 1, 2011
Publication date	Jul 26, 2016
Grant date	Jul 26, 2016

Abstract

A guide system for supply lines for a handling apparatus, in particular for an industrial robot, having a base and a carrier member, in or on which the supply lines can be arranged. The carrier member is arranged guided displaceably reciprocatingly between a deflection position and a return position over a displacement travel (V) for length compensation in a compensating portion in two runs connected together by way of a direction-changing bend and each having a respective end connecting point. The guide system has a return device for returning the carrier member to the return position. The return device is provided with a direction-changing guide having a direction-changing element which is arranged variably in respect of position relative to the base and against which the direction-changing bend is laterally supported for guidance thereof over the displacement travel. For the return of the direction-changing element, a return force which can be detected by sensor means can act on the direction-changing element.

First claim

What is claimed is:

1. A guide system for supply lines for a handling apparatus, comprising: a base and a carrier member, in or on which the supply lines are arrangeable, wherein the carrier member is arranged guided for length compensation purposes in a compensating portion in two runs connected together by way of a direction-changing bend with respective end connecting points, a first connecting point which is stationary relative to the base of the guide system and a second connecting point which is movable relative to the base, the second connecting point is reciprocable relative to the first connecting point over a displacement travel between a deflection position in which the carrier member is extended and a return position in which the carrier member is retracted, and the guide system has a return device for returning the carrier member into the return position,
wherein the return device has a direction-changing guide with a direction-changing element at which the direction-changing bend is supported laterally for guidance thereof over the displacement travel, wherein the direction-changing element is arranged reciprocably in variable-position relationship with at least one travel component in the direction of the displacement travel relative to the base between the deflection position and the return position,
wherein the direction-changing element has a lateral guide surface for the direction-changing bend, which surface extends at least approximately perpendicularly to a bend plane in which the direction-changing bend is arranged, and
wherein the direction-changing element is in the form of a direction-changing roller element or direction-changing roller which is mounted perpendicularly to the bend plane rotatably relative to the base and against which the direction-changing bend laterally bears.

2. The guide system according to claim 1 wherein the direction-changing element is displaceable between the positions on at least one of a linear and an arcuate travel path.

3. The guide system according to claim 1 wherein the return device has at least one of a linear or curved guide rail for the direction-changing element, into which the direction-changing element displaceably engages with an end portion.

4. The guide system according to claim 1 wherein the return device for automatic return has a force device for applying a return force to the direction-changing element from the deflection position to the return position.

5. The guide system according to claim 4 wherein the return force is applied at least one of pneumatically, magnetically, electromagnetically and mechanically.

6. The guide system according to claim 1 wherein the direction-changing element is arranged in a prestressed condition in the return position.

7. The guide system according to claim 1 wherein the run with the second connecting point is arranged guided through a guide element which is stationary relative to the base.

8. The guide system according to claim 1 wherein at least one of the magnitude of and the change in the return force is controlled or regulated.

9. The guide system according to claim 1 wherein the handling apparatus comprises an industrial robot, and the guide system is positioned on the industrial robot.

10. A handling apparatus, in particular an industrial robot, having a guide system for supply lines comprising: a base and a carrier member, in or on which the supply lines are arrangeable, wherein the carrier member is arranged guided for length compensation purposes in a compensating portion in two runs connected together by way of a direction-changing bend with respective end connecting points, a first connecting point which is stationary relative to the base of the guide system and a second connecting point which is movable relative to the base, the second connecting point is reciprocable relative to the first connecting point over a displacement travel between a deflection position in which the carrier member is extended and a return position in which the carrier member is retracted, and the guide system has a return device for returning the carrier member into the return position,
wherein the return device has a direction-changing guide with a direction-changing element at which the direction-changing bend is supported laterally for guidance thereof over the displacement travel, wherein the direction-changing element is arranged reciprocably in variable-position relationship with at least one travel component in the direction of the displacement travel relative to the base between the deflection position and the return position and the guide system has a measuring device with a sensor producing measurement signals for detection of at least one of the return force, the change in location of the direction-changing element and a pressing pressure with which the direction-changing bend bears against the direction-changing element, wherein the measuring signals are linkable to a provided control or regulation of the handling apparatus or industrial robot.

11. A guide system for supply lines for a handling apparatus, comprising: a base and a carrier member, in or on which the supply lines are arrangeable, wherein the carrier member is arranged guided for length compensation purposes in a compensating portion in two runs connected together by way of a direction-changing bend with respective end connecting points, a first connecting point which is stationary relative to the base of the guide system and a second connecting point which is movable relative to the base, the second connecting point is reciprocable relative to the first connecting point over a displacement travel between a deflection position in which the carrier member is extended and a return position in which the carrier member is retracted, and the guide system has a return device for returning the carrier member into the return position,
wherein the return device has a direction-changing guide with a direction-changing element at which the direction-changing bend is supported laterally for guidance thereof over the displacement travel, wherein the direction-changing element is arranged reciprocably in variable-position relationship with at least one travel component in the direction of the displacement travel relative to the base between the deflection position and the return position,
wherein the direction-changing element is displaceable between the positions by means of a lever arrangement in an arcuate shape, in particular in the shape of a circular arc, and
wherein the direction-changing device has a pivotal lever which is mounted to the base pivotably about a pivot axis parallel to the longitudinal extent of the direction-changing element and which has a free end region in which the direction-changing element is arranged.

12. The guide system according to claim 11 wherein the return device has at least one of a linear or curved guide rail for the direction-changing element, into which the direction-changing element displaceably engages with an end portion.

13. The guide system according to claim 11 wherein the return device for automatic return has a force device for applying a return force to the direction-changing element from the deflection position to the return position.

14. The guide system according to claim 13 wherein the return force is applied at least one of pneumatically, magnetically, electromagnetically and mechanically.

15. The guide system according to claim 11 wherein the direction-changing element is arranged in a prestressed condition in the return position.

16. The guide system according to claim 11 wherein the run wi

Assignees

• Hermey Andreas
• Steeger Ralf
• Igus Gmbh

Inventors

• Hermey Andreas
• Steeger Ralf

Classifications

• B25J19/00 Primary

  Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) · CPC title

• H02G3/0468

  Corrugated · CPC title

• Y10T74/20311

  including power cable or connector · CPC title

• B25J19/0025 Primary

  Means for supplying energy to the end effector · CPC title

• H02G11/00

  Arrangements of electric cables or lines between relatively-movable parts · CPC title