Multi-axis robot including a tool head and a drag chain for guiding flexible lines

{
  "publication_number": "US10099373B2",
  "country": "US",
  "kind": "B2",
  "title": "Multi-axis robot including a tool head and a drag chain for guiding flexible lines",
  "abstract": "A multi-axis robot includes robot drives, a tool head, a drag chain for guiding flexible lines along at least a part of the robot up to the tool head, and an auxiliary system for moving a tool head-side end of the drag chain. The auxiliary system includes at least one auxiliary system drive for moving the tool head-side end. The auxiliary system drive is different than the robot drives. The multi-axis robot advantageously allows collisions between the tool-side end of the drag chain and the object to be treated or other objects in the vicinity of the robot to be avoided, ensuring that the surface of the object may be treated, in particular printed on by an inkjet print head, without disruption.",
  "claims": [
    "1. A multi-axis robot, comprising: robot drives; a tool head; flexible lines; a drag chain for guiding said flexible lines along at least a part of the multi-axis robot up to said tool head, said drag chain having a tool head-side end; and an auxiliary system for moving said tool head-side end of said drag chain, said auxiliary system including at least one auxiliary system drive for moving said tool head-side end, said auxiliary system drive being different than said robot drives; said auxiliary system being an arm movably disposed on the multi-axis robot, said at least one auxiliary system drive of said arm being controlled on a basis of a sensor signal, said arm including a distance sensor, for measuring a distance between said arm and an object.",
    "2. A multi-axis robot, comprising: robot drives; a tool head; flexible lines; a drag chain for guiding said flexible lines along at least a part of the multi-axis robot up to said tool head, said drag chain having a tool head-side end; an auxiliary system for moving said tool head-side end of said drag chain, said auxiliary system including at least one auxiliary system drive for moving said tool head-side end, said auxiliary system drive being different than said robot drives; and a computer, said computer generating a path plan as a basis for controlling said auxiliary system drive and said computer generating a different path plan for said tool head.",
    "3. The multi-axis robot according to claim 2, wherein said auxiliary system is a trolley.",
    "4. The multi-axis robot according to claim 2, wherein said auxiliary system is another multi-axis robot.",
    "5. The multi-axis robot according to claim 2, wherein said tool head is at least one of an inkjet print head or a head for treating applied ink with radiation.",
    "6. The multi-axis robot according to claim 5, wherein said flexible lines include at least one line for electrically controlling said print head and at least one line for conveying ink to said print head."
  ],
  "description_excerpt": "Field of the Invention The present invention relates to a multi-axis robot including drives, a tool head, and a drag chain for guiding flexible cables or lines. The technical field of the invention is the field of treating object surfaces, which may have any type of curvature. In particular, the invention deals with printing onto such surfaces. When object surfaces that are curved in any desired way are treated, in particular printed on, by using a robot-guided tool head, in particular an inkjet print head such as the one disclosed in German Application DE 10 2012 006 371 A1, corresponding to U.S. Pat. No. 9,266,353, it is in general necessary for the tool head to be supplied, for instance with power, through lines that lead to the moving tool head. Such lines may be guided along the robot as disclosed, for instance, in German Utility Model DE 20 2011 004 786 U1, corresponding to U.S. Pat. No. 9,399,299, and may be run through drag chains as disclosed in German Utility Model DE 20 305 677 U1.\n\nA problem that may occur in that context is that the lines limit the movement of the robot, for instance because some movements would cause the lines to wind around the robot. Another problem that may occur is that the lines may collide with the object to be treated or with other objects or with the robot itself. Those problems are to be avoided or eliminated. German Application DE 10 245 984 A1 discloses a robot arm having a drag chain with a tool-side end which may be fixed to the robot arm or rather to the last member thereof by using a mount and may be moved, i.e. rotated, with that last member.",
  "cpc": [
    "B41J 3/4073",
    "B25J 11/0075",
    "B25J 15/0019",
    "B25J 19/0025",
    "B25J 19/02",
    "B25J 19/026",
    "B25J 9/0084",
    "B25J 9/0087",
    "B25J 9/1669",
    "B41J 11/0021",
    "B41J 2/01",
    "B41J 2/175",
    "B66C 11/00",
    "H02G 11/00"
  ],
  "ipc": [
    "B25J 11/00",
    "B25J 15/00",
    "B25J 19/00",
    "B25J 19/02",
    "B25J 9/00",
    "B25J 9/16",
    "B41J 2/01",
    "B66C 11/00",
    "H02G 11/00"
  ],
  "assignees": [
    "HEIDELBERGER DRUCKMASCH AG"
  ],
  "inventors": [
    "GOERBING CHRISTIAN",
    "MAIER STEFAN"
  ],
  "filing_date": "2017-03-01",
  "publication_date": "2018-10-16",
  "grant_date": "2018-10-16",
  "priority_date": "2016-03-09",
  "application_number": "US-201715446222-A",
  "family_id": "58745647",
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}