Supports – Pipe or cable – Tool cord or tube
Patent
1985-06-10
1987-11-10
Britts, Ramon S.
Supports
Pipe or cable
Tool cord or tube
248660, 248160, 248 741, 901 15, F16M 1300
Patent
active
047052430
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
FIELD OF THE INVENTION
This invention relates, in general, to manipulators and, in particular, to a new and useful device for positioning supply line bundles in respect to the articulated assemblies of the manipulator.
The moving implements or tools of manipulators must be supplied with energy, electric power, coolants, pressure fluids, etc. This supply is effected through a plurality of lines which may take the form of electrical power lines, flexible tubes, pressure tube, etc.
The general problem with manipulators is how to ensure these supplies even in instances where the tool executes whatever movements in space. Heretofore, this problem has been solved by running the supply lines from a fixed point in a large, freely suspended loop directly to the tool, as shown, for example, in German application disclosure No. 22 27 288. This manner of supplying has the disadvantage, however, that the line loop is moved about in space along with the tool and thus exposed to considerable torsional and bending loads. Also, such a supply line can be employed at most for robots and manipulators having a small working range. As soon as a manipulator is capable of swinging its arm overhead, the supply lines had to take on such dimensions that they would continually be in danger of getting caught somewhere or even being squeezed off.
SUMMARY OF THE INVENTIONS
The present invention is therefore directed to a system of external holding and guiding of supple lines to manipulator tools, which would guard the supply lines from damages and could follow without obstacles any spatial movement of the tools.
In accordance with the invention, instead of being suspended freely in space, as hitherto, relatively short sections of the supply lines bundled together are now run between holders mounted along the constructional assemblies of the manipulator. In the inventive system, the lines may extend from the stationary base over all the moved constructional assemblies up to the tool, but they also may extend from another of the assemblies, such as from the upper arm.
By providing one holder on each of the moved constructional assemblies, only relatively small loops of supply lines remain in extended positions and are therefore less loaded, starting by their own weight. Further, the dynamic loads on the manipulator are reduced. The rotary mounting of the holders in the regions of the axes has the advantage that these locations are relatively at rest as compared to the movements of the adjacent assemblies. Therefore, only the line section extending between the moved and the adjacent assembly is moved along. The other line sections remain relatively immobile and follow at most a small rotary motion of the holder. The inventive system of running lines makes now also possible overhead movements of the manipulator arm without the risk of crushing or otherwise damaging the supply lines. The result is a substantial extension of the life of the supply lines, quite disregarding the fact that they no longer represent a safety hazard.
The holders may be designed in various ways, for example as separating strips, etc. Particularly advantageous is the shape of a tubular casing having an insert which is guided therein and holds the line together. Such a holder may advantageously be employed also for running other kinds of lines. It not only helps to preserve the supply lines guided therethrough, but also permits a quick exchange of the individual lines or of the entire line bundle.
This is particularly important in the operation of industrial robots or manipulators which are employed at a growing rate in the small-scale series manufacture and for short-term jobs varying all the time. Such an operation requires frequent changes of the implement and of the supply line connected thereto. A plurality of holders is provided for running the supply lines, it would be bothersome to unthread the old lines and thread in the new ones. Further, different implements require a different number of supply lines with unequal diameters
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Hartmann Georg
Wiedemann Kurt
Zimmer Ernst
Britts Ramon S.
Chotkowski Karen J.
KUKA Schweissanlangen
Roboter GmbH
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