Robot with a line guidance device
The subject matter of the invention concerns a robot with at least one conductor guiding apparatus ( 1 ) running at least partially on the outside, in which guiding apparatus conductors, hoses or similar are guided. The conductor guiding apparatus ( 1 ) has at least one spatially deflectable section formed by members ( 4 ) each having a central body ( 5 ) through which a flexible linking element ( 6 ) extends. The members ( 4 ) form a channel ( 9 ) for accommodating supply conductors.
1. A robot having a conductor guiding apparatus for guiding flexible members, the conductor guiding apparatus comprising:
a plurality of members, each member having a central body and defining a conductor channel;
a flexible linking element extending through the central body of the members to join the members together for movement relative to one another;
a spatial deflection limiting, wherein the spatial deflection limiting mechanism comprises at least one stop connected to a first member and at least one counterstop connected to a second member disposed adjacent to the first member; and
wherein at least one stop is formed by a projection directed radially outwards, said projection engaging in a recess on an adjacent member to limit spatial deflection.
2. The robot according to claim 1 , wherein adjacent members are linked in form-fitting manner to each other.
3. The robot according to claim 1 , wherein at least two adjacent members are linked to each other by a ball joint.
4. The robot according to claim 1 , wherein at least one projection is formed on a joint body and the recess is formed in a joint socket.
5. The robot according to claim 1 wherein the stop comprises at least two projections joined to a member and arranged substantially equidistant from each other.
6. The robot according to one of the claim 1 , wherein the central body comprises at least one web linked to a wall, whereby the wall and the central body define the channel.
7. The robot according to claim 6 , wherein the has at least one gap extending in the longitudinal direction of the central body.
8. The robot according to claim 6 wherein sections of the walls of two adjacent members overlap each other.
9. The robot according to claim 1 and further comprising holders attaching the conductor guiding apparatus to the robot.
10. The robot according to claim 9 , wherein the holders are clamps that are shaped for securing the wall of a member.
11. The robot according to claim 9 wherein the holder is linked to a member in a form-fitting manner.
12. A robot having a conductor guiding apparatus for guiding flexible members, the conductor guiding apparatus comprising:
a plurality of members, each member having a central body and defining a conductor channel;
a flexible linking element extending through the central body of the members to join the members together for movement relative to one another;
and apparatus for guiding and storing the conductor guiding apparatus in the robot, wherein the apparatus has a guiding region formed in a first plane and a storage region formed in a second plane, and the second plane is formed separately from the first plane.
13. The robot according to claim 12 , wherein the guiding region lies in a substantially horizontal plane.
14. The robot according to claim 12 wherein the first and second planes lie at an angle of up to 90° to each other.
15. The robot according to claim 12 wherein the storage region lies in a substantially vertical plane.
16. The robot according to claim 12 wherein the guiding region defines a channel.
17. The robot according to claim 12 wherein the guiding region is arc-shaped.
18. The robot according to claim 12 wherein the storage region receives the conductor guiding apparatus to define an upper strand and a lower strand in the storage region.
19. The robot according to claim 12 wherein the guiding region and the storage region are detachably linked to each other.
20. The robot according to claim 12 wherein the guiding region and the storage region, a transition region.
21. The robot according to claim 12 wherein the guiding region, the storage region or the transition region are at least partially formed as molded parts.