Industrial robot for material processing

A material processing industrial robot, comprising:

• a manipulator, comprising:
• a base;
• a link mounted on the base so as to be pivotable about a link axis;
• an arm mounted on the link so as to be spaced apart from the link axis and so as to be pivotable about an arm axis that extends in parallel with the link axis;
• and
• a hand movable at least uniaxially relative to the arm;
• a processing apparatus movable by the manipulator, the processing apparatus attached to the hand of the manipulator and configured to be supplied with a medium by at least one media line;
• and
• a carrier chain for the media line, the carrier chain comprising:
• a first connection adjacent a processing location on the processing apparatus;
• and
• a second connection spaced apart from the processing apparatus and adjacent the base;
• wherein the first connection is movable relative to the second connection as a result of movements of at least one of the manipulator or the processing apparatus;
• wherein the carrier chain is retained on the manipulator between the first connection and the second connection by a plurality of retainers, one retainer of which is a link-side retainer on the link of the manipulator;
• wherein a tensioning lever of a tensioning element is attached to a part of the carrier chain between the link-side retainer and the first connection, and applies a traction to the carrier chain that is oriented away from the first connection;
• wherein the tensioning lever is mounted on the manipulator so as to be pivotable about a lever pivot axis that is parallel with the link axis and the arm axis;
• wherein the part of the carrier chain between the link-side retainer and the first connection moves in a direction counter to the traction in a longitudinal direction of the carrier chain to deflect the tensioning lever towards the first connection, and moves in a direction counter to an action of a restoring force generated by a restoring member of the tensioning element, such that the tensioning lever performs a pivot movement about the lever pivot axis;
• and
• wherein the link-side retainer forms a chain pivot axis for the part of the carrier chain between the link-side retainer and the first connection, wherein the chain pivot axis formed by the link-side retainer is coaxial with the link axis.

A material processing industrial robot, comprising:

• a manipulator, comprising:
• a base;
• a link mounted on the base so as to be pivotable about a link axis;
• an arm mounted on the link so as to be spaced apart from the link axis and so as to be pivotable about an arm axis that extends in parallel with the link axis;
• and
• a hand movable at least uniaxially relative to the arm;
• a processing apparatus movable by the manipulator, the processing apparatus attached to the hand of the manipulator and configured to be supplied with a medium by at least one media line;
• and
• a carrier chain for the media line, the carrier chain comprising:
• a first connection adjacent a processing location on the processing apparatus;
• and
• a second connection spaced apart from the processing apparatus and adjacent the base;
• wherein the first connection is movable relative to the second connection as a result of movements of at least one of the manipulator or the processing apparatus;
• wherein the carrier chain is retained on the manipulator between the first connection and the second connection by a plurality of retainers, one retainer of which is a link-side retainer on the link of the manipulator;
• wherein a tensioning lever of a tensioning element is attached to a part of the carrier chain between the link-side retainer and the first connection, and applies a traction to the carrier chain that is oriented away from the first connection;
• wherein the tensioning lever is mounted on the manipulator so as to be pivotable about a lever pivot axis that is parallel with the link axis and the arm axis;
• wherein the part of the carrier chain between the link-side retainer and the first connection moves in a direction counter to the traction in a longitudinal direction of the carrier chain to deflect the tensioning lever towards the first connection, and moves in a direction counter to an action of a restoring force generated by a restoring member of the tensioning element, such that the tensioning lever performs a pivot movement about the lever pivot axis;
• and
• wherein the restoring member of the tensioning element comprises a tension spring which is arranged between the tensioning lever of the tensioning element and the link of the manipulator, and which can be tensioned by the part of the carrier chain between the link-side retainer and the first connection moving in the direction counter to the traction in the longitudinal direction of the carrier chain and while generating the restoring force that acts on the tensioning lever.