EP1614478A1 - Hose routing for a coating robot - Google Patents

Hose routing for a coating robot Download PDF

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Publication number
EP1614478A1
EP1614478A1 EP05105595A EP05105595A EP1614478A1 EP 1614478 A1 EP1614478 A1 EP 1614478A1 EP 05105595 A EP05105595 A EP 05105595A EP 05105595 A EP05105595 A EP 05105595A EP 1614478 A1 EP1614478 A1 EP 1614478A1
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EP
European Patent Office
Prior art keywords
tube
insulating
hose guide
hose
insulating tube
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Granted
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EP05105595A
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German (de)
French (fr)
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EP1614478B1 (en
Inventor
Thomas Hezel
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Duerr Systems AG
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Duerr Systems AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/16—Arrangements for supplying liquids or other fluent material
    • B05B5/1608—Arrangements for supplying liquids or other fluent material the liquid or other fluent material being electrically conductive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
    • B05B5/025—Discharge apparatus, e.g. electrostatic spray guns
    • B05B5/04—Discharge apparatus, e.g. electrostatic spray guns characterised by having rotary outlet or deflecting elements, i.e. spraying being also effected by centrifugal forces

Definitions

  • the invention relates to a hose guide for a painting robot according to the preamble of claim 1.
  • the coating agent is electrically charged, while the workpieces to be painted, such as motor vehicle body parts, are electrically grounded.
  • This offers the advantage that the coating agent is electrostatically attracted to the workpieces to be painted, which contributes to a reduction of the so-called overspray.
  • a high-rotation atomizer can be used, which itself is under high voltage and is mounted on an electrically grounded hand axis of the painting robot.
  • the coating agent to be applied is in this case supplied by a coating agent tube, which is guided through the robot arms and the hand axis, wherein electrical flashovers between the standing under high voltage coating agent in the coating medium tube and the electrically grounded hand axis must be avoided.
  • multi-layer, electrically insulating coating agent tubes are used in which the required dielectric strength of 80-100 kV is achieved by one or more additional insulating layers on the outside of the coating agent tube.
  • a disadvantage of the known multilayer, electrically insulating coating agent tubes is the unsatisfactory Bending behavior, since only relatively large bending radii are possible and the lifetime is unsatisfactory with frequent deformations.
  • the invention is therefore based on the object to provide a hose guide for a painting robot, which allows a passage of coating agent tubes and allows the best possible bending behavior.
  • the invention comprises the general technical teaching to provide for the electrical insulation of the coating agent hose a separate insulating tube or a separate insulating tube made of an electrically insulating material, in which the coating agent tube extends.
  • the separation of the insulating hose from the coating agent hose offers the possibility of optimizing the coating agent hose on the one hand and the insulating hose on the other hand to the respective technical function, without the various design goals being contradictory.
  • the coating agent tube can be structurally optimized for optimal bending behavior and a good piggability out, whereas the insulating tube can be optimized for good insulation or high dielectric strength out.
  • the insulating tube is preferably separated from the coating medium tube in the radial direction.
  • the insulating tube thus surrounds the coating agent tube as a shell, wherein between the insulating tube and the coating agent tube Preferably, there is a predetermined distance, however, which may vary in the axial direction and in dependence on the position of the painting robot or the hand axis.
  • This displacement of the electrical insulation to the outside offers the advantage that smaller thicknesses of the insulating tube are sufficient to prevent electrical breakdown to the outside, since the electrical potential decreases in the space between the coating agent tube and the insulating tube to the outside.
  • the space between the insulating tube and the coating agent tube is in this case air-filled, however, the space between the insulating tube and the coating agent tube may also be filled by other gaseous or liquid fluids, which are preferably electrically insulating.
  • the insulating tube in the tube guide according to the invention is preferably flexible in the axial direction. This is advantageous since, as a function of the position of the painting robot, hose elongations or compressions can occur, which can be absorbed by the axial compliance of the insulating hose.
  • the insulating tube in the hose guide according to the invention preferably also flexurally flexible in order to adapt to the different positions of the painting robot or the robot's hand axis.
  • the axial compliance and the bending flexibility of the insulating tube can be achieved in that the insulating tube has a pleat structure, as known for example from bellows or corrugated tubes.
  • the insulating tube is preferably multi-layered and has an inner tube and an outer tube.
  • the Inner tube and the outer tube in this case preferably include an insulating agent space which is at least partially filled with an electrically insulating insulating fluid or filled with it. The electrical insulation of the insulating tube is thus at least partially effected by the insulating fluid.
  • the Isolierstoffraum between the inner tube and the outer tube preferably opens a filling nozzle, through which the insulating fluid filled in the Isolierffenraum and / or can be removed therefrom.
  • the insulating fluid is preferably an insulating fluid such as mineral oil-based insulating oil, chlorodiphenyl, silicone oil, castor oil, glycerin, hexane or a tetrachlorocarbon-containing liquid.
  • the invention is not limited to insulating fluids with respect to the insulating fluid, but in principle can be realized with an insulating gas between the inner tube and the outer tube.
  • the insulating tube is electrically grounded to avoid electrical flashovers to the outside or a danger to surrounding people.
  • the insulating tube has an insulation capacity or an electrical breakdown strength of at least 50 kV.
  • the coating agent tube is preferably pigable, but the coating medium tube does not have to be electrically insulating. It is therefore within the scope of the invention, the possibility that the coating agent tube is not or only partially electrically insulating.
  • the insulating tube preferably opens at least at one end into a connection block made of an electrically insulating material.
  • the further routing of this connection block can then be carried out by a conventional, multilayer, electrically insulating coating agent line, so that the hose guide according to the invention can be limited to the area between two such connection blocks.
  • the insulating tube according to the invention may consist, at least over part of its length, essentially of a rigid pipe made of an electrically insulating material.
  • a rigid tube in the region of a robot arm, no bending elasticity of the insulating tube is required, so that a rigid tube can be used as an insulating tube, whereas the bending elasticity of the insulating tube in the region of a robot joint is essential, so that the insulating tube is preferably correspondingly flexurally elastic there.
  • the insulating tube is on a part of its length substantially of a rigid tube and is flexurally flexible over part of its length, wherein the bending flexible part of the insulating tube preferably projects with an axial overlap in the rigid tube of the insulating tube.
  • the rigid tube is preferably arranged in the region of the individual robot arms, while the bending-flexible insulating tube is guided in each case through the robot joints.
  • the axial overlap between the flexurally flexible part of the insulating tube and the rigid tube of the insulating tube preferably has a length which is in the range between 100 mm and 400 mm depending on the height of the High voltage is, with any intermediate values are possible.
  • the invention is not limited to the hose guide according to the invention described above, but also comprises a robot hand axis and a painting robot with such a hose guide according to the invention.
  • the invention also encompasses the novel use of the hose guide according to the invention for the electrical insulation of a coating agent hose in a painting robot.
  • FIG. 1 The representation of a painting robot 1 shown in FIG. 1 is greatly simplified and stylized and serves only to clarify the structure and mode of operation of a hose guide according to the invention.
  • the painting robot 1 has a base part 2, which is rotatably mounted on a foundation 3, wherein the drive of the base part 2 can be done for example by an electric motor.
  • a robot arm 4 is pivotally mounted, wherein the drive of the robot arm 4 can also be done by an electric motor.
  • a robot hand axis 5 is mounted, which consists of three relatively rotatable wrist parts 6, 7, 8.
  • the drive of the individual wrist parts 6, 7, 8 takes place by means of shafts, which are guided out of the robot arm 4 into the robot hand axis 5 and, for example, are driven by an electric motor.
  • a rotary atomizer 10 is attached via a high-voltage insulating terminal block 9, which may be conventionally formed and has a bell cup 11.
  • the supply of the coating agent to the bell cup 11 of the rotary atomizer 10 takes place here via two schematically illustrated coating agent lines 12, 13, which emanate from a high voltage insulating terminal block 14 in the base part 2 of the painting robot 1 and by the robot arm 4, the robot hand axis 5 and the high voltage insulating terminal block. 9 are guided to the rotary atomizer 10.
  • the coating agent delivered by the bell cup 11 of the rotary atomizer 10 is in this case charged to high-voltage potential, whereas the workpieces to be coated are electrically grounded, so that the applied coating agent of the workpieces to be coated is electrostatically attracted, which contributes to a high efficiency and a correspondingly low overspray.
  • the rotary atomizer 10 is therefore charged as a whole to high voltage potential while the robot hand axis 5 is electrically grounded, wherein the terminal block 9 electrically isolates the rotary atomizer 10 relative to the robot hand axis 5.
  • the coating agent flowing in the coating agent lines 12, 13 is also electrically charged to high voltage potential, so that the coating agent lines 12, 13 must be electrically insulated from the wrist parts 6, 7, 8 of the robot hand axis 5.
  • the insulating tube 15 has a bellows-like fold structure, so that the insulating tube 15 is flexible and flexurally elastic in the axial direction.
  • the bending elasticity of the insulating tube 15 is important so that the insulating tube 15 can adapt to the respective position of the robot's hand axis 5.
  • the axial compliance of the insulating tube 15, however, is important because in an adjustment of the robot hand axis 5 axial strokes can result, which must be compensated by the insulating 15.
  • the insulating tube 15 is double-walled and consists of an inner tube and an outer tube, which enclose a Isolierschraum, wherein the Isolierstoffraum between the inner tube and the outer tube is filled with an insulating liquid.
  • the insulating tube 16 in the robot arm 4 must not follow any changes in shape and is therefore constructed largely rigid.
  • the insulating tube 15 protrudes here in the axial direction over a length of about 300 mm in the insulating tube 16 in order to achieve at an axial lifting movement of the insulating tube 15 relative to the insulating tube 16 always a sufficiently large axial overlap and a correspondingly large insulation capacity.
  • connection between the insulating tube 16 and the electrically insulating terminal block 14 is again via a double-walled, electrically insulating insulating tube 17, which is constructed according to the insulating tube 15.
  • the supply of the coating agent to the high-voltage resistant terminal block 14 can be done in a conventional manner by high voltage insulating coating agent tubes, which are not shown here for simplicity.
  • the exemplary embodiment of a hose guide 18 according to the invention shown in FIG. 2 serves to guide a coating agent hose 19 in a painting robot, wherein the hose guide 18 can also accommodate a plurality of coating agent hoses.
  • the hose guide For electrical insulation of the coating agent hose 19 relative to the surrounding painting robot, the hose guide has an insulating tube 20, which consists of an inner tube 21 and an outer tube 22, wherein the inner tube 21 and the outer tube 22 an insulating agent space 23, which is filled with an insulating liquid.
  • the connecting piece 24 At its axial ends of the insulating tube 20 is connected to two connecting pieces 24, 25, wherein the connecting piece 24 has a filling nozzle 26 which opens into the Isolierstoffraum 23 between the inner tube 21 and the outer tube 22 and a filling or emptying of the Isolierstoffraums 23 allows.

Landscapes

  • Manipulator (AREA)
  • Spray Control Apparatus (AREA)
  • Electrostatic Spraying Apparatus (AREA)
  • Coating Apparatus (AREA)

Abstract

The arrangement has at least one coating material hose (12,13) for transporting an electrically charged coating material and electrical insulation enclosing the coating material hose. The insulation consists of a separate insulating hose (15,16,17) made of electrically insulating material in which the coating material hose runs. Independent claims are also included for the following: (A) a robotic hand axis with a hose guide (B) a painting robot (C) and the use of a hose guide for electrical insulation of a coating medium hoe in a painting robot.

Description

Die Erfindung betrifft eine Schlauchführung für einen Lackierroboter gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a hose guide for a painting robot according to the preamble of claim 1.

Es sind Lackierroboter bekannt, bei denen das Beschichtungsmittel elektrisch aufgeladen wird, während die zu lackierenden Werkstücke, wie beispielsweise Kraftfahrzeugkarosserieteile, elektrisch geerdet sind. Dies bietet den Vorteil, dass das Beschichtungsmittel von den zu lackierenden Werkstücken elektrostatisch angezogen wird, was zu einer Verringerung des sogenannten Oversprays beiträgt. Zur Applikation des Beschichtungsmittels kann hierbei ein Hochrotationszerstäuber eingesetzt werden, der selbst unter Hochspannung steht und an einer elektrisch geerdeten Handachse des Lackierroboters montiert ist. Das zu applizierende Beschichtungsmittel wird hierbei durch einen Beschichtungsmittelschlauch zugeführt, der durch die Roboterarme und die Handachse hindurchgeführt ist, wobei elektrische Überschläge zwischen dem unter Hochspannung stehenden Beschichtungsmittel in dem Beschichtungsmittelschlauch und der elektrisch geerdeten Handachse vermieden werden müssen. Herkömmlicherweise werden deshalb mehrlagige, elektrisch isolierende Beschichtungsmittelschläuche eingesetzt, bei denen die erforderliche Durchschlagfestigkeit von 80-100 kV durch eine oder mehrere zusätzliche Isolierlagen an der Außenseite des Beschichtungsmittelschlauchs erreicht wird.There are painting robots are known in which the coating agent is electrically charged, while the workpieces to be painted, such as motor vehicle body parts, are electrically grounded. This offers the advantage that the coating agent is electrostatically attracted to the workpieces to be painted, which contributes to a reduction of the so-called overspray. For the application of the coating agent in this case a high-rotation atomizer can be used, which itself is under high voltage and is mounted on an electrically grounded hand axis of the painting robot. The coating agent to be applied is in this case supplied by a coating agent tube, which is guided through the robot arms and the hand axis, wherein electrical flashovers between the standing under high voltage coating agent in the coating medium tube and the electrically grounded hand axis must be avoided. Conventionally, therefore, multi-layer, electrically insulating coating agent tubes are used in which the required dielectric strength of 80-100 kV is achieved by one or more additional insulating layers on the outside of the coating agent tube.

Ein Nachteil an den bekannten mehrlagigen, elektrisch isolierenden Beschichtungsmittelschläuchen ist das unbefriedigende Biegeverhalten, da nur relativ große Biegeradien möglich sind und die Lebensdauer bei häufigen Verformungen unbefriedigend ist.A disadvantage of the known multilayer, electrically insulating coating agent tubes is the unsatisfactory Bending behavior, since only relatively large bending radii are possible and the lifetime is unsatisfactory with frequent deformations.

Der Erfindung liegt deshalb die Aufgabe zugrunde, eine Schlauchführung für einen Lackierroboter zu schaffen, die eine Durchführung von Beschichtungsmittelschläuchen erlaubt und ein möglichst gutes Biegeverhalten ermöglicht.The invention is therefore based on the object to provide a hose guide for a painting robot, which allows a passage of coating agent tubes and allows the best possible bending behavior.

Diese Aufgabe wird, ausgehend von den eingangs beschriebenen mehrlagigen, elektrisch isolierenden Beschichtungsmittelschläuchen gemäß dem Oberbegriff des Anspruchs 1, durch die kennzeichnenden Merkmale des Anspruchs 1 gelöst.This object is achieved on the basis of the above-described multilayer, electrically insulating coating agent tubes according to the preamble of claim 1 by the characterizing features of claim 1.

Die Erfindung umfasst die allgemeine technische Lehre, zur elektrischen Isolierung des Beschichtungsmittelschlauchs einen separaten Isolierschlauch oder ein separates Isolierrohr aus einem elektrisch isolierenden Material vorzusehen, in dem der Beschichtungsmittelschlauch verläuft. Die Trennung des Isolierschlauchs von dem Beschichtungsmittelschlauch bietet die Möglichkeit, den Beschichtungsmittelschlauch einerseits und den Isolierschlauch andererseits auf die jeweilige technische Funktion hin zu optimieren, ohne dass die verschiedenen Konstruktionsziele gegensätzlich sind. So kann der Beschichtungsmittelschlauch konstruktiv auf ein optimales Biegeverhalten und eine gute Molchbarkeit hin optimiert werden, wohingegen der Isolierschlauch auf ein gutes Isolationsvermögen bzw. eine hohe Durchschlagfestigkeit hin optimiert werden kann.The invention comprises the general technical teaching to provide for the electrical insulation of the coating agent hose a separate insulating tube or a separate insulating tube made of an electrically insulating material, in which the coating agent tube extends. The separation of the insulating hose from the coating agent hose offers the possibility of optimizing the coating agent hose on the one hand and the insulating hose on the other hand to the respective technical function, without the various design goals being contradictory. Thus, the coating agent tube can be structurally optimized for optimal bending behavior and a good piggability out, whereas the insulating tube can be optimized for good insulation or high dielectric strength out.

Vorzugsweise ist der Isolierschlauch hierbei in Radialrichtung von dem Beschichtungsmittelschlauch getrennt. Der Isolierschlauch umgibt also den Beschichtungsmittelschlauch als Hülle, wobei zwischen dem Isolierschlauch und dem Beschichtungsmittelschlauch vorzugsweise ein vorgegebener Abstand besteht, der jedoch in Axialrichtung und in Abhängigkeit von der Stellung des Lackierroboters bzw. der Handachse schwanken kann. Diese Verlagerung der elektrischen Isolierung nach außen bietet den Vorteil, dass geringere Dicken des Isolierschlauchs ausreichen, um einen elektrischen Durchschlag nach außen zu verhindern, da das elektrische Potential in dem Raum zwischen dem Beschichtungsmittelschlauch und dem Isolierschlauch nach außen hin abnimmt. Vorzugsweise ist der Raum zwischen dem Isolierschlauch und dem Beschichtungsmittelschlauch hierbei luftgefüllt, jedoch kann der Raum zwischen dem Isolierschlauch und dem Beschichtungsmittelschlauch auch durch andere gasförmige oder flüssige Fluide gefüllt sein, die vorzugsweise elektrisch isolierend sind.In this case, the insulating tube is preferably separated from the coating medium tube in the radial direction. The insulating tube thus surrounds the coating agent tube as a shell, wherein between the insulating tube and the coating agent tube Preferably, there is a predetermined distance, however, which may vary in the axial direction and in dependence on the position of the painting robot or the hand axis. This displacement of the electrical insulation to the outside offers the advantage that smaller thicknesses of the insulating tube are sufficient to prevent electrical breakdown to the outside, since the electrical potential decreases in the space between the coating agent tube and the insulating tube to the outside. Preferably, the space between the insulating tube and the coating agent tube is in this case air-filled, however, the space between the insulating tube and the coating agent tube may also be filled by other gaseous or liquid fluids, which are preferably electrically insulating.

Darüber hinaus ist der Isolierschlauch bei der erfindungsgemäßen Schlauchführung vorzugsweise in Axialrichtung flexibel. Dies ist vorteilhaft, da in Abhängigkeit von der Stellung des Lackierroboters Schlauchlängungen oder -stauchungen auftreten können, die durch die axiale Nachgiebigkeit des Isolierschlauchs aufgenommen werden können.In addition, the insulating tube in the tube guide according to the invention is preferably flexible in the axial direction. This is advantageous since, as a function of the position of the painting robot, hose elongations or compressions can occur, which can be absorbed by the axial compliance of the insulating hose.

Darüber hinaus ist der Isolierschlauch bei der erfindungsgemäßen Schlauchführung vorzugsweise auch biegeflexibel, um sich an die unterschiedlichen Stellungen des Lackierroboters bzw. der Roboterhandachse anpassen zu können.In addition, the insulating tube in the hose guide according to the invention preferably also flexurally flexible in order to adapt to the different positions of the painting robot or the robot's hand axis.

Die axiale Nachgiebigkeit und die Biegeflexibilität des Isolierschlauchs kann dadurch erreicht werden, dass der Isolierschlauch eine Faltenstruktur aufweist, wie sie beispielsweise von Faltenbälgen oder Wellschläuchen bekannt ist.The axial compliance and the bending flexibility of the insulating tube can be achieved in that the insulating tube has a pleat structure, as known for example from bellows or corrugated tubes.

Weiterhin ist der Isolierschlauch vorzugsweise mehrlagig und weist einen Innenschlauch und einen Außenschlauch auf. Der Innenschlauch und der Außenschlauch schließen hierbei vorzugsweise einen Isoliermittelraum ein, der mindestens teilweise mit einem elektrisch isolierenden Isolierfluid gefüllt oder damit befüllbar ist. Die elektrische Isolierung des Isolierschlauchs wird hierbei also zumindest teilweise durch das Isolierfluid bewirkt.Furthermore, the insulating tube is preferably multi-layered and has an inner tube and an outer tube. Of the Inner tube and the outer tube in this case preferably include an insulating agent space which is at least partially filled with an electrically insulating insulating fluid or filled with it. The electrical insulation of the insulating tube is thus at least partially effected by the insulating fluid.

Hierbei mündet in den Isoliermittelraum zwischen dem Innenschlauch und dem Außenschlauch vorzugsweise ein Befüllstutzen, über den das Isolierfluid in den Isoliermittelraum eingefüllt und/oder daraus entnommen werden kann. Das Isolierfluid ist vorzugsweise eine Isolierflüssigkeit, wie beispielsweise Isolieröl auf Mineralölbasis, Chlordiphenyl, Silikonöl, Rizinusöl, Glyzerin, Hexan oder eine tetrachlorkohlenstoffhaltige Flüssigkeit. Die Erfindung ist jedoch hinsichtlich des Isolierfluids nicht auf Isolierflüssigkeiten beschränkt, sondern grundsätzlich auch mit einem Isoliergas zwischen dem Innenschlauch und dem Außenschlauch realisierbar.In this case, in the Isoliermittelraum between the inner tube and the outer tube preferably opens a filling nozzle, through which the insulating fluid filled in the Isoliermittelraum and / or can be removed therefrom. The insulating fluid is preferably an insulating fluid such as mineral oil-based insulating oil, chlorodiphenyl, silicone oil, castor oil, glycerin, hexane or a tetrachlorocarbon-containing liquid. However, the invention is not limited to insulating fluids with respect to the insulating fluid, but in principle can be realized with an insulating gas between the inner tube and the outer tube.

Vorzugsweise ist der Isolierschlauch elektrisch geerdet, um elektrische Überschläge nach außen oder eine Gefährdung umstehender Personen zu vermeiden. In einem bevorzugten Ausführungsbeispiel weist der Isolierschlauch ein Isolationsvermögen bzw. eine elektrische Durchschlagfestigkeit von mindestens 50 kV auf.Preferably, the insulating tube is electrically grounded to avoid electrical flashovers to the outside or a danger to surrounding people. In a preferred embodiment, the insulating tube has an insulation capacity or an electrical breakdown strength of at least 50 kV.

Der Beschichtungsmittelschlauch ist dagegen vorzugsweise molchbar, jedoch muss der Beschichtungsmittelschlauch nicht elektrisch isolierend sein. Es besteht deshalb im Rahmen der Erfindung die Möglichkeit, dass der Beschichtungsmittelschlauch nicht oder nur teilweise elektrisch isolierend ist.By contrast, the coating agent tube is preferably pigable, but the coating medium tube does not have to be electrically insulating. It is therefore within the scope of the invention, the possibility that the coating agent tube is not or only partially electrically insulating.

Weiterhin ist zu erwähnen, dass der Isolierschlauch vorzugsweise an mindestens einem Ende in einen Anschlussblock aus einem elektrisch isolierenden Material mündet. Die weitere Leitungsführung von diesem Anschlussblock kann dann durch eine herkömmliche, mehrlagige, elektrisch isolierende Beschichtungsmittelleitung erfolgen, so dass die erfindungsgemäße Schlauchführung auf den Bereich zwischen zwei derartigen Anschlussblöcken beschränkt sein kann.It should also be mentioned that the insulating tube preferably opens at least at one end into a connection block made of an electrically insulating material. The further routing of this connection block can then be carried out by a conventional, multilayer, electrically insulating coating agent line, so that the hose guide according to the invention can be limited to the area between two such connection blocks.

Ferner kann der erfindungsgemäße Isolierschlauch zumindest auf einem Teil seiner Länge im Wesentlichen aus einem biegestarren Rohr aus einem elektrisch isolierenden Material bestehen. Beispielsweise ist im Bereich eines Roboterarms keine Biegeelastizität des Isolierschlauchs erforderlich, so dass dort ein biegestarres Rohr als Isolierschlauch verwendet werden kann, wohingegen die Biegeelastizität des Isolierschlauchs im Bereich eines Robotergelenks unerlässlich ist, so dass der Isolierschlauch dort vorzugsweise entsprechend biegeelastisch ist.Furthermore, the insulating tube according to the invention may consist, at least over part of its length, essentially of a rigid pipe made of an electrically insulating material. For example, in the region of a robot arm, no bending elasticity of the insulating tube is required, so that a rigid tube can be used as an insulating tube, whereas the bending elasticity of the insulating tube in the region of a robot joint is essential, so that the insulating tube is preferably correspondingly flexurally elastic there.

Vorzugsweise besteht der Isolierschlauch deshalb auf einem Teil seiner Länge im Wesentlichen aus einem biegestarren Rohr und ist auf einem Teil seiner Länge biegeflexibel, wobei der biegeflexible Teil des Isolierschlauchs vorzugsweise mit einer axialen Überlappung in das biegestarre Rohr des Isolierschlauchs hineinragt. Das biegestarre Rohr ist hierbei vorzugsweise im Bereich der einzelnen Roboterarme angeordnet, während der biegeflexible Isolierschlauch jeweils durch die Robotergelenke hindurchgeführt ist.Preferably, therefore, the insulating tube is on a part of its length substantially of a rigid tube and is flexurally flexible over part of its length, wherein the bending flexible part of the insulating tube preferably projects with an axial overlap in the rigid tube of the insulating tube. In this case, the rigid tube is preferably arranged in the region of the individual robot arms, while the bending-flexible insulating tube is guided in each case through the robot joints.

Die axiale Überlappung zwischen dem biegeflexiblen Teil des Isolierschlauchs und dem biegestarren Rohr des Isolierschlauchs weist vorzugsweise eine Länge auf, die im Bereich zwischen 100 mm und 400 mm in Abhängigkeit von der Höhe der Hochspannung liegt, wobei beliebige Zwischenwerte möglich sind.The axial overlap between the flexurally flexible part of the insulating tube and the rigid tube of the insulating tube preferably has a length which is in the range between 100 mm and 400 mm depending on the height of the High voltage is, with any intermediate values are possible.

Ferner ist zu erwähnen, dass die Erfindung nicht auf die vorstehend beschriebene erfindungsgemäße Schlauchführung beschränkt ist, sondern auch eine Roboterhandachse und einen Lackierroboter mit einer derartigen erfindungsgemäßen Schlauchführung umfasst.It should also be mentioned that the invention is not limited to the hose guide according to the invention described above, but also comprises a robot hand axis and a painting robot with such a hose guide according to the invention.

Darüber hinaus umfasst die Erfindung auch die neuartige Verwendung der erfindungsgemäßen Schlauchführung zur elektrischen Isolierung eines Beschichtungsmittelschlauchs in einem Lackierroboter.In addition, the invention also encompasses the novel use of the hose guide according to the invention for the electrical insulation of a coating agent hose in a painting robot.

Andere vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen gekennzeichnet oder werden nachstehend zusammen mit der Beschreibung des bevorzugten Ausführungsbeispiels der Erfindung anhand der Figuren näher erläutert. Es zeigen:

Figur 1
eine vereinfachte Seitenansicht eines Lackierroboters mit einer erfindungsgemäßen Schlauchführung zur Aufnahme eines Beschichtungsmittelschlauchs sowie
Figur 2
eine Querschnittsansicht einer erfindungsgemäßen Schlauchführung zur Führung eines Beschichtungsmittelschlauchs durch eine Handachse eines Lackierroboters.
Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiment of the invention with reference to the figures. Show it:
FIG. 1
a simplified side view of a painting robot with a hose guide according to the invention for receiving a coating agent hose and
FIG. 2
a cross-sectional view of a hose guide according to the invention for guiding a coating agent hose by a hand axis of a painting robot.

Die in Figur 1 gezeigte Darstellung eines Lackierroboters 1 ist stark vereinfacht und stilisiert und dient nur zur Verdeutlichung des Aufbaus und der Funktionsweise einer erfindungsgemäßen Schlauchführung.The representation of a painting robot 1 shown in FIG. 1 is greatly simplified and stylized and serves only to clarify the structure and mode of operation of a hose guide according to the invention.

Der Lackierroboter 1 weist ein Basisteil 2 auf, das auf einem Fundament 3 drehbar gelagert ist, wobei der Antrieb des Basisteils 2 beispielsweise elektromotorisch erfolgen kann.The painting robot 1 has a base part 2, which is rotatably mounted on a foundation 3, wherein the drive of the base part 2 can be done for example by an electric motor.

An dem Basisteil 2 ist ein Roboterarm 4 schwenkbar angebracht, wobei der Antrieb des Roboterarms 4 ebenfalls elektromotorisch erfolgen kann.On the base part 2, a robot arm 4 is pivotally mounted, wherein the drive of the robot arm 4 can also be done by an electric motor.

Am distalen Ende des Roboterarms 4 ist eine Roboterhandachse 5 angebracht, die aus drei relativ zueinander drehbaren Handgelenksteilen 6, 7, 8 besteht. Der Antrieb der einzelnen Handgelenksteile 6, 7, 8 erfolgt durch Wellen, die aus dem Roboterarm 4 in die Roboterhandachse 5 hineingeführt sind und beispielsweise elektromotorisch angetrieben werden.At the distal end of the robot arm 4, a robot hand axis 5 is mounted, which consists of three relatively rotatable wrist parts 6, 7, 8. The drive of the individual wrist parts 6, 7, 8 takes place by means of shafts, which are guided out of the robot arm 4 into the robot hand axis 5 and, for example, are driven by an electric motor.

An dem Handgelenksteil 6 der Roboterhandachse 5 ist über einen hochspannungsisolierenden Anschlussblock 9 ein Rotationszerstäuber 10 befestigt, der herkömmlich ausgebildet sein kann und einen Glockenteller 11 aufweist.On the wrist part 6 of the robot hand axis 5, a rotary atomizer 10 is attached via a high-voltage insulating terminal block 9, which may be conventionally formed and has a bell cup 11.

Die Zuführung des Beschichtungsmittels zu dem Glockenteller 11 des Rotationszerstäubers 10 erfolgt hier über zwei schematisch dargestellte Beschichtungsmittelleitungen 12, 13, die von einem hochspannungsisolierenden Anschlussblock 14 in dem Basisteil 2 des Lackierroboters 1 ausgehen und durch den Roboterarm 4, die Roboterhandachse 5 und den hochspannungsisolierenden Anschlussblock 9 zu dem Rotationszerstäuber 10 geführt sind.The supply of the coating agent to the bell cup 11 of the rotary atomizer 10 takes place here via two schematically illustrated coating agent lines 12, 13, which emanate from a high voltage insulating terminal block 14 in the base part 2 of the painting robot 1 and by the robot arm 4, the robot hand axis 5 and the high voltage insulating terminal block. 9 are guided to the rotary atomizer 10.

Das von dem Glockenteller 11 des Rotationszerstäubers 10 abgegebene Beschichtungsmittel ist hierbei auf Hochspannungspotential aufgeladen, wohingegen die zu beschichtenden Werkstücke elektrisch geerdet sind, so dass das applizierte Beschichtungsmittel von den zu beschichtenden Werkstücken elektrostatisch angezogen wird, was zu einem hohen Wirkungsgrad und einem entsprechend geringen Overspray beiträgt.The coating agent delivered by the bell cup 11 of the rotary atomizer 10 is in this case charged to high-voltage potential, whereas the workpieces to be coated are electrically grounded, so that the applied coating agent of the workpieces to be coated is electrostatically attracted, which contributes to a high efficiency and a correspondingly low overspray.

Der Rotationszerstäuber 10 ist deshalb als Ganzes auf Hochspannungspotential aufgeladen, während die Roboterhandachse 5 elektrisch geerdet ist, wobei der Anschlussblock 9 den Rotationszerstäuber 10 gegenüber der Roboterhandachse 5 elektrisch isoliert.The rotary atomizer 10 is therefore charged as a whole to high voltage potential while the robot hand axis 5 is electrically grounded, wherein the terminal block 9 electrically isolates the rotary atomizer 10 relative to the robot hand axis 5.

Darüber hinaus ist auch das in den Beschichtungsmittelleitungen 12, 13 strömende Beschichtungsmittel elektrisch auf Hochspannungspotential aufgeladen, so dass die Beschichtungsmittelleitungen 12, 13 elektrisch gegenüber den Handgelenksteilen 6, 7, 8 der Roboterhandachse 5 isoliert werden müssen. Hierzu dient ein Isolierschlauch 15, der die gesamte Roboterhandachse 5 von dem Anschlussblock 9 bis zu einem Isolierrohr 16 durchzieht.In addition, the coating agent flowing in the coating agent lines 12, 13 is also electrically charged to high voltage potential, so that the coating agent lines 12, 13 must be electrically insulated from the wrist parts 6, 7, 8 of the robot hand axis 5. For this purpose, an insulating tube 15, which passes through the entire robot hand axis 5 of the terminal block 9 to an insulating tube 16.

Der Isolierschlauch 15 weist eine faltenbalgartige Faltenstruktur auf, so dass der Isolierschlauch 15 in Axialrichtung flexibel und biegeelastisch ist. Die Biegeelastizität des Isolierschlauchs 15 ist wichtig, damit sich der Isolierschlauch 15 der jeweiligen Stellung der Roboterhandachse 5 anpassen kann. Die axiale Nachgiebigkeit des Isolierschlauchs 15 ist dagegen wichtig, weil sich bei einer Verstellung der Roboterhandachse 5 axiale Hubbewegungen ergeben können, die von dem Isolierschlauch 15 ausgeglichen werden müssen.The insulating tube 15 has a bellows-like fold structure, so that the insulating tube 15 is flexible and flexurally elastic in the axial direction. The bending elasticity of the insulating tube 15 is important so that the insulating tube 15 can adapt to the respective position of the robot's hand axis 5. The axial compliance of the insulating tube 15, however, is important because in an adjustment of the robot hand axis 5 axial strokes can result, which must be compensated by the insulating 15.

Zur elektrischen Isolierung der Beschichtungsmittelleitungen 12, 13 gegenüber den Handgelenksteilen 6, 7, 8 der Roboterhandachse 5 ist der Isolierschlauch 15 doppelwandig ausgeführt und besteht aus einem Innenschlauch und einem Außenschlauch, die einen Isoliermittelraum einschließen, wobei der Isoliermittelraum zwischen dem Innenschlauch und dem Außenschlauch mit einer Isolierflüssigkeit gefüllt ist.For electrical insulation of the coating agent lines 12, 13 relative to the wrist parts 6, 7, 8 of the robot hand axis 5, the insulating tube 15 is double-walled and consists of an inner tube and an outer tube, which enclose a Isoliermittelraum, wherein the Isoliermittelraum between the inner tube and the outer tube is filled with an insulating liquid.

Das Isolierrohr 16 in dem Roboterarm 4 muss dagegen keinen Formänderungen folgen und ist deshalb weitgehend starr aufgebaut. Der Isolierschlauch 15 ragt hierbei in axialer Richtung über eine Länge von ungefähr 300mm in das Isolierrohr 16 hinein, um bei einer axialen Hubbewegung des Isolierschlauchs 15 relativ zu dem Isolierrohr 16 stets eine ausreichend große axiale Überlappung und ein entsprechend großes Isolationsvermögen zu erreichen.The insulating tube 16 in the robot arm 4, on the other hand, must not follow any changes in shape and is therefore constructed largely rigid. The insulating tube 15 protrudes here in the axial direction over a length of about 300 mm in the insulating tube 16 in order to achieve at an axial lifting movement of the insulating tube 15 relative to the insulating tube 16 always a sufficiently large axial overlap and a correspondingly large insulation capacity.

Die Verbindung zwischen dem Isolierrohr 16 und dem elektrisch isolierenden Anschlussblock 14 erfolgt wieder über einen doppelwandigen, elektrisch isolierenden Isolierschlauch 17, der entsprechend dem Isolierschlauch 15 aufgebaut ist.The connection between the insulating tube 16 and the electrically insulating terminal block 14 is again via a double-walled, electrically insulating insulating tube 17, which is constructed according to the insulating tube 15.

Die Zuführung des Beschichtungsmittels zu dem hochspannungsfesten Anschlussblock 14 kann in herkömmlicher Weise durch hochspannungsisolierende Beschichtungsmittelschläuche erfolgen, die jedoch hier zur Vereinfachung nicht dargestellt sind.The supply of the coating agent to the high-voltage resistant terminal block 14 can be done in a conventional manner by high voltage insulating coating agent tubes, which are not shown here for simplicity.

Das in Figur 2 dargestellte Ausführungsbeispiel einer erfindungsgemäßen Schlauchführung 18 dient zur Führung eines Beschichtungsmittelschlauchs 19 in einem Lackierroboter, wobei die Schlauchführung 18 auch mehrere Beschichtungsmittelschläuche aufnehmen kann.The exemplary embodiment of a hose guide 18 according to the invention shown in FIG. 2 serves to guide a coating agent hose 19 in a painting robot, wherein the hose guide 18 can also accommodate a plurality of coating agent hoses.

Zur elektrischen Isolierung des Beschichtungsmittelschlauchs 19 gegenüber dem umgebenden Lackierroboter weist die Schlauchführung einen Isolierschlauch 20 auf, der aus einem Innenschlauch 21 und einem Außenschlauch 22 besteht, wobei der Innenschlauch 21 und der Außenschlauch 22 einen Isoliermittelraum 23 einschließen, der mit einer Isolierflüssigkeit gefüllt ist. An seinen axialen Enden ist der Isolierschlauch 20 mit zwei Anschlussstücken 24, 25 verbunden, wobei das Anschlussstück 24 einen Befüllstutzen 26 aufweist, der in den Isoliermittelraum 23 zwischen dem Innenschlauch 21 und dem Außenschlauch 22 mündet und eine Befüllung bzw. Entleerung des Isoliermittelraums 23 ermöglicht.For electrical insulation of the coating agent hose 19 relative to the surrounding painting robot, the hose guide has an insulating tube 20, which consists of an inner tube 21 and an outer tube 22, wherein the inner tube 21 and the outer tube 22 an insulating agent space 23, which is filled with an insulating liquid. At its axial ends of the insulating tube 20 is connected to two connecting pieces 24, 25, wherein the connecting piece 24 has a filling nozzle 26 which opens into the Isoliermittelraum 23 between the inner tube 21 and the outer tube 22 and a filling or emptying of the Isoliermittelraums 23 allows.

Die Erfindung ist nicht auf die vorstehend beschriebenen bevorzugten Ausführungsbeispiele beschränkt. Vielmehr ist eine Vielzahl von Varianten und Abwandlungen möglich, die ebenfalls von dem Erfindungsgedanken Gebrauch machen und deshalb in den Schutzbereich fallen.The invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications are possible, which also make use of the concept of the invention and therefore fall within the scope.

Claims (21)

Schlauchführung (18) für einen Lackierroboter, insbesondere für eine Roboterhandachse, mit - mindestens einem Beschichtungsmittelschlauch (12, 13, 19) zur Durchleitung eines elektrisch aufgeladenen Beschichtungsmittels und - einer den Beschichtungsmittelschlauch (12, 13, 19) umgebenden elektrischen Isolierung,
dadurch gekennzeichnet, dass
die Isolierung einen separaten Isolierschlauch (15, 16, 17, 20, 21, 22) aus einem elektrisch isolierenden Material aufweist, in dem der Beschichtungsmittelschlauch (12, 13, 19) verläuft.Hose guide (18) for a painting robot, in particular for a robot hand axis, with - At least one coating agent hose (12, 13, 19) for passing an electrically charged coating agent and a electrical insulation surrounding the coating agent hose (12, 13, 19),
characterized in that
the insulation has a separate insulating tube (15, 16, 17, 20, 21, 22) made of an electrically insulating material in which the coating agent tube (12, 13, 19) extends. Schlauchführung (18) nach Anspruch 1, dadurch gekennzeichnet, dass der Isolierschlauch (15, 16, 17, 20, 21, 22) von dem Beschichtungsmittelschlauch (12, 13, 19) in Radialrichtung getrennt ist.Hose guide (18) according to claim 1, characterized in that the insulating tube (15, 16, 17, 20, 21, 22) of the coating medium tube (12, 13, 19) is separated in the radial direction. Schlauchführung (18) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass der Isolierschlauch (15, 16, 17, 20, 21, 22) in Radialrichtung zu dem Beschichtungsmittelschlauch (12, 13, 19) beabstandet verläuft.Hose guide (18) according to claim 1 or 2, characterized in that the insulating tube (15, 16, 17, 20, 21, 22) extends in the radial direction to the coating medium tube (12, 13, 19) spaced. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 17, 20, 21, 22) axial flexibel ist.Hose guide (18) according to one of the preceding claims, characterized in that the insulating tube (15, 17, 20, 21, 22) is axially flexible. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 17, 20, 21, 22) biegeflexibel ist.Hose guide (18) according to one of the preceding claims, characterized in that the insulating tube (15, 17, 20, 21, 22) is flexurally flexible. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 17, 20, 21, 22) eine Faltenstruktur aufweist.Hose guide (18) according to one of the preceding claims, characterized in that the insulating tube (15, 17, 20, 21, 22) has a fold structure. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 17, 20, 21, 22) mehrlagig ist und einen Innenschlauch (21) und einen Außenschlauch (22) aufweist.Hose guide (18) according to one of the preceding claims, characterized in that the insulating tube (15, 17, 20, 21, 22) is multi-layered and has an inner tube (21) and an outer tube (22). Schlauchführung (18) nach Anspruch 7, dadurch gekennzeichnet, dass der Innenschlauch (21) und der Außenschlauch (22) einen Isoliermittelraum (23) einschließen, der mindestens teilweise mit einem elektrisch isolierenden Isolierfluid befüllt oder damit befüllbar ist.Hose guide (18) according to claim 7, characterized in that the inner tube (21) and the outer tube (22) include a Isoliermittelraum (23) which is at least partially filled with an electrically insulating insulating fluid or filled with it. Schlauchführung (18) nach Anspruch 8, dadurch gekennzeichnet, dass in den Isoliermittelraum (23) ein Befüllstutzen (26) mündet, über den das Isolierfluid eingefüllt und/oder entnommen werden kann.Hose guide (18) according to claim 8, characterized in that in the Isoliermittelraum (23) a filling nozzle (26) opens, via which the insulating fluid can be filled and / or removed. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 16, 17, 20, 21, 22) elektrisch geerdet ist.Hose guide (18) according to one of the preceding claims, characterized in that the insulating tube (15, 16, 17, 20, 21, 22) is electrically grounded. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 16, 17, 20, 21, 22) ein Isolationsvermögen von mindestens 50 kV aufweist.Tube guide (18) according to one of the preceding claims, characterized in that the insulating tube (15, 16, 17, 20, 21, 22) has an insulation capacity of at least 50 kV. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Beschichtungsmittelschlauch (12, 13, 19) molchbar ist.Tube guide (18) according to one of the preceding claims, characterized in that the coating medium tube (12, 13, 19) is piggable. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Beschichtungsmittelschlauch (12, 13, 19) nicht oder nur teilweise elektrisch isolierend ist.Hose guide (18) according to one of the preceding claims, characterized in that the coating agent hose (12, 13, 19) is not or only partially electrically insulating. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (15, 17, 20, 21, 22) an mindestens einem Ende in einen Anschlussblock aus einem elektrisch isolierenden Material mündet.Hose guide (18) according to any one of the preceding claims, characterized in that the insulating tube (15, 17, 20, 21, 22) opens at at least one end in a connection block made of an electrically insulating material. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch (16) zumindest auf einem Teil seiner Länge im Wesentlichen aus einem biegestarren Rohr besteht.Hose guide (18) according to any one of the preceding claims, characterized in that the insulating tube (16) at least over part of its length consists essentially of a rigid tube. Schlauchführung (18) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Isolierschlauch auf einem Teil seiner Länge aus einem biegestarren Rohr (16) besteht und auf einem Teil seiner Länge biegeflexibel ist, wobei der biegeflexible Teil des Isolierschlauchs mit einer axialen Überlappung in das biegestarre Rohr (16) hineinragt.Hose guide (18) according to any one of the preceding claims, characterized in that the insulating tube on a part of its length consists of a rigid tube (16) and is flexurally flexible over part of its length, wherein the bend flexible part of the insulating tube with an axial overlap in the rigid tube (16) protrudes. Schlauchführung (18) nach Anspruch 16, dadurch gekennzeichnet, dass die axiale Überlappung zwischen dem biegeflexiblen Teil des Isolierschlauchs und dem biegestarren Rohr (16) eine Länge aufweist, die im Bereich zwischen 100 mm und 400 mm liegt.Hose guide (18) according to claim 16, characterized in that the axial overlap between the flexurally flexible part of the insulating tube and the rigid pipe (16) has a length which is in the range between 100 mm and 400 mm. Roboterhandachse (5) mit einer Schlauchführung (18) nach einem der vorhergehenden Ansprüche.Robot hand axis (5) with a hose guide (18) according to one of the preceding claims. Lackierroboter (1) mit einer Schlauchführung (18) nach einem der Ansprüche 1 bis 17.Painting robot (1) with a hose guide (18) according to one of claims 1 to 17. Lackierroboter (1) nach Anspruch 19, gekennzeichnet durch mindestens einen Roboterarm (4) und mindestens ein Gelenk, wobei der Isolierschlauch (15, 16, 17, 20, 21, 22) im Bereich des Roboterarms (4) aus einem biegestarren Isolierrohr (16) besteht, während der Isolierschlauch (15, 16, 17, 20, 21, 22) im Bereich des Gelenks biegeflexibel ist.Painting robot (1) according to claim 19, characterized by at least one robot arm (4) and at least one joint, wherein the insulating tube (15, 16, 17, 20, 21, 22) in the region of the robot arm (4) from a rigid insulating tube (16 ), while the insulating tube (15, 16, 17, 20, 21, 22) is flexurally flexible in the region of the joint. Verwendung einer Schlauchführung (18) nach einem der Ansprüche 1 bis 17 zur elektrischen Isolation eines Beschichtungsmittelschlauchs (12, 13, 19) in einem Lackierroboter (1).Use of a hose guide (18) according to one of claims 1 to 17 for the electrical insulation of a coating agent hose (12, 13, 19) in a painting robot (1).
EP05105595A 2004-07-09 2005-06-23 Hose routing for a coating robot Active EP1614478B1 (en)

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ATE440669T1 (en) 2009-09-15
EP1614478B1 (en) 2009-08-26
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ES2330533T3 (en) 2009-12-11
DE102004033330A1 (en) 2006-02-02

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