CZ20003017A3 - Apparatus for introducing elongated objects - Google Patents

Abstract

The device (10) is intended for inserting elongated objects (20) such as cables or pipes into clamps (18) arranged inside fixed pipes. The device (10) has a channel robot carriage (22) with a working unit (24) arranged thereon. The latter is provided with a placing head (44) which is movable in the radial direction by means of a drive. The storage head (44) has two rows (56, 56j) of three longitudinally arranged storage grooves (58, 58'). These are intended for storing one elongated object (20) at a time. The central storage grooves (58') are arranged on a storage element (62), which projects over the adjacent storage grooves (58) and which can be pushed back against the force of a compression spring (64). Furthermore, the working unit (24) is provided with a guide device (74) for at least parallel guiding of the objects (20). With this device (10), up to three objects (20) can be inserted together into the clamps (18) in one working process.

Description

Device for introducing elongated objects

-Ϊ

BACKGROUND OF THE INVENTION The invention relates to a device for introducing elongate objects such as cables or tubes in clips which are arranged inside stationary tubes with a guide frame movably supported on a tubular inner wall in a tubular longitudinal direction, with a receiving head arranged on the guide frame with respect to its longitudinal axis radially movably having at least one receiving groove for the object open in a radially outward direction about the longitudinal axis, and having a drive for moving the storage head in the radial direction.

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A device of this kind is known from EP-A-0 109 73S. Máο has a support stand on the inside of the pipe with a support stand that is movable in the longitudinal direction of the pipe by means of a cable. On the guide stand are two longitudinally extending insertion heads which are individually movable in the longitudinal direction, rotatable about a longitudinal axis, movable in a radial direction and driven, which have a groove in the longitudinal direction for receiving one and the same cable. To bend the cable in the desired direction, the two receiving heads are rotatable relative to each other about a longitudinal axis. To guide the routed cable into the clip fastened to the tubular wall, the two storage heads, when viewed in the pulling direction of the cable, are displaced to a downstream position from the clips and then displaced in a radial direction against the outside to introduce the cable into the clips. A support device is hinged on the guide stand, which can also be supported by support feet on the inner tubular wall and which has a support element movable in a radial direction by a cylinder-piston unit and which has a recess for receiving the cable. By means of the support elements, the cable is supported between the clips in which it has already been inserted and between the head bearings, being pushed against the pipe wall. To move the support element around the clip, it is temporarily lowered by means of a cylinder-piston unit.

stodstata_yynálezu

SUMMARY OF THE INVENTION It is an object of the present invention to provide such a device at the outset in such a way that it is substantially more efficient in a simple construction.

This object is achieved by the device according to the invention, which is characterized in that the receiving head has at least two parallel bearing grooves arranged next to one another for each object. This makes it possible to introduce a plurality of elongate objects in a single working process into the clips arranged inside the stationary tube side by side.

According to a preferred embodiment, one of the bearing grooves is provided in the radial direction more outwardly than the other bearing groove and is arranged in the bearing member which is retractable in the radial direction, preferably against the force of the compression spring. Umožňujeο allows to insert longitudinal objects into tubes with different diameters with only one storage head. Furthermore, this design makes it possible to arrange the fasteners very close to one another, since adjacent objects are introduced into the corresponding fasteners one after the other and thus it is necessary to create a swiveling area for only one fastener.

A further advantageous feature is that the drive for moving the storage head is provided in a main module which can be mounted on the rotary mechanism by means of a self-propelled channeled robot carriage and the storage head and guide can be connected to the main module via at least one adapter. and economical adaptation to different diameters of the stationary pipe. In this case, the main module, which may in particular also comprise a drive for the movement of the receiving head as well as the necessary electronic components, pneumatic or hydraulic valves, may be the same for all possible stationary pipe diameters. Corresponding adaptation to the different pipe diameters is achieved by the use of different adapters, by means of which the in-head or guide device is displaced respectively in the radial direction.

Further advantageous embodiments of the subject matter of the invention are set forth in the other dependent claims, which are illustrated in the drawings.

The invention is explained in more detail below with reference to the drawing, in which: FIG.

FIG. 1 is a longitudinal cross-sectional view of a tube of an apparatus for introducing elongate objects into clips;

FIG. 2 also shows a view, in comparison with FIG. 1, on a larger scale and in partial cross-section of a portion of the apparatus shown here;

Fig. 3 is a cross-sectional view of the device shown in Figs. 1 and 2, taken along line III-III in these Figs.

0 0 0 0 0

0 0 0 0

000 · 0 ·· · 0 · 0 0 0

FIG. 4 is a partial cross-sectional side view taken along the line IV - IV of the apparatus of FIG. 2;

FIG. 5 is a view of another embodiment of an apparatus for introducing elongate objects into clips, corresponding to the view of FIG. 1;

Figure 6 is a side view of the device of Figure 5, with the guide device omitted for clarity.

Fig. 7 shows a horizontal section through the device according to Fig. 5 without a guide device.

Fig. S is a plan view of the device of Fig. 5.

Fig. 9 shows the device shown in Figs. 5 and 3 in section along the line V-V in Fig. 8;

Fig. IU is a cross-sectional view of the device shown in Fig. 1 taken along line VI-VI in Fig. 1.

11 to 11a show side views of a part of the apparatus of FIG. 5 with adapters for adapting to different diameters of the stationary pipe.

The invention is embodied in the present invention

The device 10 shown in FIGS. 1 to 4 has a movable guide stand 12 which is arranged inside a stationary pipe 14, for example a sewer pipe. In the tubular longitudinal direction R there are spaced internal clamps 16, which have fixed tubes 14 in the circumferential direction of the stationary tubes 14 in the circumferential direction. The apparatus (18) is intended to insert into the stationary tube (14), elongated objects (20), such as cables or protective tubes for cables, into the clips (18). give. Such cables are drawn into the protective tubes also after their assembly in the fixed tube 14 or are already arranged in the protective tubes during their assembly.

The guide stand 12 has, on the one hand, a generally known remote-controlled self-propelled channel robot carriage 22 and, on the other hand, a working unit Tafn at the front side of the machine. The tubular robot carriage is movable in the tubular longitudinal direction R to the inner clamps 1b by means of a drive and wheels 26 abutting the tubular inner wall 14. A measuring wheel 28 is also provided on the channel carriage 22, which also rests against the tubular inner wall 14 and is connected to a rotation angle sensor which further converts the signals produced by the rotation of the measuring wheel 28 via the power and signal cables 30 to a control and monitoring unit. arranged outside the pipe system. The exact position of the device 10 in the tube 14 is known by the measuring wheel 28.

On the front wall of the canal robot carriage 22, which is viewed in the working direction A, is rotatably mounted a rotating plate 32 in the form of a turntable which can be pivoted to the desired rotational position of the track by means of a rotary actuator. The longitudinal axes 22 of the canal robot carriage 22. As can be seen in particular in FIG. 3, two output shafts 34 are mounted approximately diametrically opposite one another on the rotary plate-shaped rotary device 32, which are known in the known manner. . ; They are each provided with one supply unit within the canal robot carriage 22. Furthermore, the rotary plate 22 has a compressed air and electrical power and signal connections 36 for the working unit 24. fa and is removably mounted on the rotary device 32 in the rotary plate. The said power and signal connections are connected via a power and signal cable 30 to a control and control unit or power units arranged outside the pipe system.

In the longitudinal central plane, a shaft 42 is displaceably disposed in a radial direction which carries a storage head 44 at its end protruding from the housing 40. 40, one section of the shaft 42 is formed as a toothed rack 40 which interacts with a spur gear 48 mounted on a housing 40. This spur gear 48 is connected via a toothed belt 30 to a drive shaft 52 which is itself connected to a single shaft. the rotating orifice 32 of the output shafts 32 in the form of a turntable. By driving this output shaft 34 by means of a corresponding channel robot carriage 212, or a drive unit arranged therein, the storage head 44 can be retracted and retracted in the radial direction. In order to engage the toothed rack 46 with the spur gear 48, a support roller 54 is provided opposite it.

The bearing head 44 has two bearing grooves 58 arranged spaced apart in the direction of the longitudinal axis 22, spaced apart grooves 58b, 5b in the direction of the longitudinal axis 22 *, the bearing grooves 58 of the two rows 5b, 5b aligned to each other. · · · Φ · · * · »·» uložení uložení uložení uložení uložení uložení uložení uložení uložení uložení uložení uložení uložení uložení uložení In this case, each council has 56.

three outwardly open receiving grooves 56, wherein the two outer grooves 58 are fixedly arranged in the support body 60 of the storage head 44, which is fixed on the shaft 42, and each central receiving groove 58 is formed on an annularly formed storage element 62, as shown in FIGS. 2 and 6, slidable in the radial direction on the support body 60, being mounted retractably against the force of the compression spring 64. As can be seen in particular from FIG. in the rest position of the receiving element 62, the respective receiving groove 58 *, when viewed in the radial direction, is arranged more outwardly than the two other receiving grooves 58.

On the side facing away from the channel robot carriage 22, two parallel shields 66 protrude from the housing 40 which are connected in the free end region by means of spacers 68 and which can be supported by an optionally dreamy and extendable support wheel 70 on the tubular inner wall 14 *. A generally known television camera 72 is pivotably mounted between the two shields 66 and is connected to the control and monitoring unit via signal lines. This serves in particular for the visual control and inspection of the storage head 44.

In the free end region of the shields 66 there is arranged a cradle 74 for objects 20. On the edge section of the laterally curved support bracket of a cradle 76 formed of a sheet which is pivotably mounted about an axis 76. modified in>

at a right angle to the longitudinal axis 22 on the shields 66, a frame 78 is fixed to the axis 76 in which two friction brake guide and brake plates 80, 80 are arranged. These limit the guide slots 82 and have a guide recess 82 * for the objects 20 facing each other. Thus, the three objects 20 are maintained

9 *

9 9 · 9 • 99 999

9 9 9

9 9 9

9 «and guided side by side at a defined distance. Further, an adjustment screw 84 is provided on the frame 78 for the pair of guide recesses 82 through which the width a can be adjusted

guide slots 82 at respective guide recesses 82. to generate an individual frictional force on each object 20 as the device 10 moves in the working direction A, thereby keeping the objects 20 taut. The friction brake pads 30, 80 preferably consist of a resilient plastic such as nylon or teflon.

A guide body 88 is provided at the end of the lever-shaped cradle 7b in the form of a support rail, which has a guide body 88 on the side of the head 44, which has three passages for guiding objects 20. Guide recess 82 and passages in the guide

the body 88 are matched to the receiving grooves 58, 58.

Two guide elements 90 are fastened below the support yoke of the cradle 7b through which the rod 92 extends. These rods 92 are at their end which extends over the shields bb. connected to each other by a guide yoke 94 which is open upwardly and in the form of a circular segment. Through these guide yokes of the guide 74 pass objects 20 when the bars 92 are pulled away from the storage head 44. the bars 92 may be out of the extended position. 2, which is shown in FIG. 2 by broken rods 92, after loosening the fastening screws 9b, are inserted in the direction opposite to the channel robot carriage 22 until the guide bracket 94 reaches the guide elements 90. Thus, it is possible to substantially reduce the length of the working unit 24. its introduction or removal from the tube 14 by means of a vertical shaft.

1 and 2 show the swiveling position of the guide 74 when the head 44 is in the position shown in FIG. 1 and FIG. 2. «

Φ * · Φ ΦΦΦ · ΦΦ · «φ

3 is lowered to the rest position and the articles 20 are not yet introduced into the buckles 10. The loading head 44 is shown in dash-dotted position as well as the corresponding pivoting position of the guide 74.

As can be seen from FIG. J and FIG. 4, the buckles 18 have two resiliently formed buckle tabs 38 between which one object 20 can be inserted. The center of the three objects 20 is first inserted into the respective buckle 18 before being simultaneously both outer objects 20 are inserted into adjacent clips

18. Because now it is not possible to simultaneously insert objects 20 into two adjacent clips 18. The necessary nrostor Dro deflection of the buckle tongues 98 of one of these buckles KS, thereby allowing a very close alignment of the buckles 18.

For the placement of the internal clamps 10 which carry the clamps 16, for example by means of the device described in patent application EP 38 102 681.8 and after insertion of the articles 2), if there is sufficient space, the entire device 10 is lowered into the shaft, e.g. by means of a crane from which the tube 14 extends. If there is not enough space available, the duct robot carriage 22 and the working unit 24 are detached, lowered into the shaft and assembled in the shaft by means of a bayonet lock 38 and connected to the power and signal connections 30. Subsequently, the articles 20 are inserted into the guide 74 and the receiving grooves 58, 58 of the storage element 62. If this is not possible with the end of the articles 20, in which case the articles 20 can be introduced into the guide slot 82 and into the guide body 88. 74 so that both the guide body 88 and the guide slot 82 can be opened so that the articles 20 can be inserted.

After completing these preparatory work, the device is 10 φ

φ φ

φ φ

kanál kanál * * něné něné něné * * něné něné * * něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné něné until the positioning head 44 reaches the first inner pin 16 with the clips 18. The measuring wheel 28 as well as the television camera 72 serve to determine this position. By rotating the turntable rotating device 32, the working unit 24 is brought into the desired rotating position. The head 44 is then moved from its rest position in the radial direction outwardly, thereby allowing the central of the three articles 20 to be inserted first into the corresponding clip 1b. 1 and 2, the buckles 18 are arranged between the two rows 50, 50 'of the grooves 58, 58. This prevents the objects 20 from kinking when they are inserted into the self-locking clips 18. Once the central object 20 is inserted. into the corresponding clip IS, the storage head 44 is further extended in the radial direction to insert the two outer articles 20 into the corresponding clips 18, with the result that the storage element 62 is pushed back against the force of the compression spring 64 into the support body 60. to prevent damage to the corresponding object 20, the flanks of the receiving element 62 extend over the corresponding object 2u. so that they can abut against the tubular inner wall 14 and so are pushed directly through the tube 14 and not through the article 20 back. Of course, the compression spring 44 is formed such that its force acting on the receiving element 62 is greater than the force required to insert the article 20 into the clip 18.

Once the three objects 20 have been inserted into the clips 18, the insertion head 44 is retracted in the radial direction, the receiving grooves 58, 58 engaging the objects 20, while remaining held in the position shown in FIGS. 1 and 2. 11 «999« 9 9 9 9 9 • 99 99 · 9 ·· 99 9

9999 9

99 999 9 · 9 9 * 99 in dotted lines. After performing the inspection by means of the television camera 72, the device 10 is moved in the working direction A up to the next internal pin 16. In this case, the traction brakes 80, 80 * are subjected to a traction force on the objects 20 by the action of the guide and braking plates and are thus tensioned if the objects 20 are to be of low intrinsic stability. 74 is pivoted counterclockwise, so that the parallel-held objects 20 are brought into engagement with the corresponding receiving grooves 58, 58 *, first with the central object 2u. Subsequently, the articles 20 are inserted into the clips 18 in the same manner. These working processes are repeated until the pipe end or the subsequent shaft is reached.

In the illustrated embodiment, the inner pins 16 each have nine fasteners 18. Preferably, the first three fasteners 18 are lined first with the articles 20. All other articles 20 are then, up to three together, inserted into the fasteners 28 on one or the other side.

Of course, it is also possible to insert only one or two objects 20 into the clips 18 by the illustrated device 10.

If the support wheel 70 is said, it can also be fixed on the working unit 24. However, in order to allow the working unit 24 to rotate about the longitudinal axis 22 *, it is preferably provided at a distance from the tubular inner wall 14 *, so that only the articles 20 are inserted in the clips 18 for supporting on the tubular inner wall 14 *.

Preferred inner pins 16 with clips 18 are disclosed

• Β

- 11 «Β • ·

Β · ΒΒΒ

. Β «« «« ft

98 Β Β in patent application EF 98 102 682.0. It goes without saying that the device can also be used to insert longitudinal objects into clips which are fastened directly to the tube.

FIGS. 5 to 13 show another embodiment of the device 10, with comparable parts having the same reference features, the device W having a substantially lower tilt moment compared to the previously described one.

For this purpose, the movable guide stand 12 on the turntable 32 in the form of a turntable 32 has a self-propelled channel robot carriage 22 having a deployable main module 100 in which the necessary electronic components, pneumatic or hydraulic valves are arranged. 48 for relocating the storage head 44 and the pivoting drive 102 for the support wheel 70.

This main module 10o is always the same regardless of the diameter of the stationary tube 14.

For adapting the device 10 to different diameters of the stationary tube 14, the storage head 44 and the guide device 74 can be connected to the main module 100 via an adapter 104, see Figures 11 to 13 or an adapter 106, see also Figure 5. head 44 and shaft 42 on the one hand, and between the guide 74 and the main module housing 100 on the other hand of the plug-in adapters 102 and 106 respectively, the storage head 44 and guide 74 can be displaced in radial direction according to the diameter of the stationary tube. If. In addition, the gauge of the self-propelled channel robot carriage is adjustable in accordance with the diameter of the stationary tube 14. It is expediently ensured that by means of an appropriate adjustment the longitudinal axis of the self-propelled channel robot carriage 22 is at least substantially equal to the longitudinal axis of the stationary tube 14. The support wheel 70 can be pivoted inwards or outwards in accordance with the corresponding diameter of the stationary tube 14.

· A · a · a · a a · a · a · a · a · a · ··· ·····

In particular, FIG. 10 also shows the drive shafts 52 connected to the two output shafts 34 of the turntable 32 in the form of a turntable. By means of one of the two output shafts 34 of the turntable 32, the receiving head 44 is retracted and retracted. The second VGCUU for GXCGU2 for VUUVuvam uptsinenu is also shown in particular in Figures 6 to 7.

The pivoting of the support wheel 70 is effected by means of a worm drive 102. See, in particular, FIG.

and FIG. 10, wherein the worm 108 driven by one of said output shafts 34 engages a worm wheel segment 110 that is mounted non-rotatably on a shaft 112 housed in the housing of the main module 100. As best seen in FIG. 70 is rotatably mounted at one end in the present case of the two-arm gripper 114, the two arms 114 * and 114 ** of which are fixed at the opposite end from the housing of the main module 100 projecting ends of the shaft 112. by at least one transverse reinforcement 11S.

The drive for moving the storage head 44 again comprises a shaft section 42 formed as a rack 46 and a spur gear 48 mounted on the housing of the main module 100 and cooperating with the rack 46, see in particular Fig. 5, Fig. 7 and 10. To keep the rack 46 engaged with the gear 48, it is also adapted to it

0 · · 0 0 0

0 0 0 ·· 00

The opposite support roller 54. In the present case, however, the gear 48 is no longer connected to the corresponding drive shaft 52 by means of a toothed belt, but by means of a toothed belt. A corresponding gear 122 is also provided between the shaft 124 which carries the worm 108 and between the second drive shaft 52.

Otherwise, the insertion and retraction of the insertion head 44 is carried out in the same manner as the embodiment described above.

o -irnrL η ίΰnft HAfl VI and Ha Ahr. r ~ ~ ^w “* x / - - - r - fi and nhr. 10.

the bearing head 44 again has two bearing grooves 58 disposed in the direction of the longitudinal axis 22 spaced apart from one another in the direction of the longitudinal axis 22 ', the bearing grooves 58 of the two rows 56 and 5b' aligned to each other. 20. As can be seen from FIG. 10, in this case also the central receiving groove 58 of the corresponding groove row is fixedly mounted on the receiving head 44. As a result, all three objects 20, such as cable or cable protective tubes, are inserted simultaneously. 5 and 6, respectively. In order to allow this, the clips 18 are provided at a greater distance from one another in the embodiment.

In the illustrated embodiment, the guide bracket 94 provided in the previously described embodiment is missing.

The guiding device 74 comprises only two guiding bodies 88 with three grooves 82 'for the objects 20, which are arranged adjacent to one another, for example of protective tubes or world cables 1, see in particular FIGS. 5 and 8.

000 «« 0

- 15 • ··· 0 ·

Jal ·; 5, S and 3, a guide lever 126 is associated with the guide device 74, which is arranged in a guide body 88 closer to the receiving head and is adjustable by the cylinder and piston unit 128. between the holding position in which the objects are 20 *

at least substantially retained in the grooves of the guide recesses 82 of the guide body 88 or are overhung by the guide lever 1.2o and between the release position in which the articles 30 are released.

As best seen in Figures 8 and 9, the guide lever 126 for this purpose can be pivoted substantially 30 ° about a perpendicular axis 10 with respect to the longitudinal axis 22. In the retaining or guiding poxose, the PCL is a steel; vystoupeni predmětv. 20 from the grooves guiding the recesses 82 of the guide body 88.

If, for example, in the case of high water, the robot needs to be moved out of the stationary tube 64, the guide lever 126 pivots about a perpendicular axis 136 to a release position where, for example, the protective tubes or light guide cables formed by objects 26 are released. directions freely movable. In addition, the guide lever 126 facilitates the introduction of, in particular, tubular or cable articles 26 into the grooves of the guide recesses 82 of the guide body 88 when preparing the robot for assembly.

As can be seen in particular from FIGS. 6 and 8, the guide 74 has a support bracket that forms a cradle 76 and is pivotable on a base body I32 connectable to the main module 166. see, in particular, FIG. 132 2It remains the same as the main stage 106 independently of the corresponding diameter of the stationary tube 14.

If the cradle 76 with the associated guide lever 126 is pivoted, then the cradle 76 is pivoted.

Φ 9 Φ 9

99, the guide body 88 comprising a pivotable cradle 76 pivoting about the axis 134 due to its weight automatically pivots downward from the objects 26.

It has been shown that no braking device is required for tensioning the protective tubes. In such a case, the braking device described in connection with the preceding exemplary embodiment may therefore be omitted. However, the use of such a braking device may be useful, for example, when laying cables.

As can be seen in particular from FIG. 5, FIG. 6 and FIG. 9, there is also provided a perpendicular pivoted TV camera 72 or a color TV camera around the longitudinal axis 22, see FIG. . In the present case, it is pivotably mounted in the base body 132. Furthermore, in this case a fixed, radially directed black-and-white camera 136 is provided, see in particular FIG.

5. This black-and-white camera 136 may serve in particular to detect the inlets to the stationary tube 14 and the tube offset, as well as the clamps inserted into the stationary tube 14. If such a clamp is recognized, for example, the robot moves one more distance between the black and white camera 136 and between the storage head 44 used for storing the full moon in the forward direction so that the storage head 44 is positioned symmetrically with respect to the respective clamp.

As best seen in FIG. 16, laser pointers 138 are provided on both sides of the storage head 44 on the housing of the main module 160, which can serve as a target for accurately positioning the corresponding clamp or clips 18. In FIG. Laser beams parallel to each other are shown in dashed lines.

The guide bodies 88 are provided, around the axis 134 on the base 0 0 0

0 0 0 ·

0 0 0

00 ··

The pivoting support cradle 76 is pivotally pivotable in the present case by at least one cylinder and piston unit 140 relative to the support body 132, so that the cradle can be forced to be pivoted for example in the event of a robot evacuation.

• 0 00 A · 0

Thus, in the illustrated embodiment, they may be independent of the corresponding diameter. stationary tube 14 is always used in the same self-propelled robot carriage provided with a channel 22 of the same main module 100 and the same guide means, comprising in this case the cradle 76 and the base body 132 with a television camera 72 and the čenebílou «» »e ^r ou KBI. To adapt the robot to different diameters of the stationary tube 14, the storage head 44 and the guide device 74 are connected to the main module 100 via the corresponding adapters 104, 106 and / or the corresponding number of adapters. In addition, the support wheel 70 is pivoted in accordance with the corresponding diameter of the stationary tube 14. In addition, the gauge of the self-propelled channel robot carriage 22 can be adjusted in accordance with the corresponding tube diameter.

FIG. 6 shows the robot in its basic configuration for stationary pipes 14 having an inside diameter of, for example, 300 mm. In this case, no adapter is needed between the storage head 44 and the shaft 42. The guide 74 is mounted to the housing of the main module 100 by means of a relatively small adapter plate 106. This adapter plate can be now. In this way, adapters can also be provided for other inner pipe diameters of, for example, 350 mm, 400 mm, 450 mm, 500 mm and / or 600 mm. In principle, adapters for other inner pipe diameters are also possible. 11 to 13 are side views of part of the apparatus of FIG. 5

- 18 · · ··· «9 · 9 9 9

9 with the adapters 104 and Ido for adapting to other different internal diameters of the stationary tube 14.

Thus, in FIG. 11, there is shown a robot for equipping a stationary tube 14, the inner diameter of which, for example, is 350 mm. As already mentioned, other diameters are also possible in principle. Referring to FIG. 11, a ring-shaped adapter 104 is inserted between the storage head 44 and the shaft 42 that is housed in the main module 100. The guide body 132 is fastened via the adapter plate 106 to the housing of the main module 100, which is slightly larger than · 'Arranged' nnrilp nhr. 5 and, in the present case, somewhat Wc extends upwardly over the housing of the main module 100.

In comparison to the basic arrangement shown in FIG. 5, in this case, the storage head 44 and the guide device 74 are offset more radially outwardly relative to the main module 100.

Fig. 12 shows an embodiment of a robot for stationary tubes 14 with a somewhat larger inner diameter, here for example 450 mm. Accordingly, a correspondingly longer tubular adapter 104 is inserted between the storage head 44 and the shaft 42 housed in the main module 100. The base body 132, which is associated with the guide 74, is secured to the housing of the main module 100 by a correspondingly larger Adapter plates 106. As can be seen from the comparison of FIG. 12 with FIG. 11, in this case the storage head 44 as well as the guide 74 are offset from the main module 100 by a certain number of outwardly.

Fig. 13 shows the construction of a robot for stationary tubes 14 with an even larger inner diameter, at a given diameter. Φ φ φ ® φ φ φ φ φ φ φ

- 13 falls for example ο 600 mm. In this case, two tubular adapters 104 are inserted between the storage head 44 and the shaft 42 housed in the main module 100. The base body 132 that is associated with the guide 74 is mounted to the housing of the main module 100 by an even larger adapter plate 100. Accordingly, in the present case, the storage head 44 and the guide device 74 are also more radially outwardly offset relative to the main module 100.

In addition, in FIG. 13, the support wheel 7o pivoted downwards is shown in dashed lines. In this case, the adapters 104, 106 and the adjustment can be selected in particular such that the longitudinal axis 22 of the robot is at least substantially coincident with the central axis of the stationary tube 14.

For example, the tubular adapters 104 between the storage head 44 and the shank 42 may have conventional graduations. nominal pipe widths 14 a length of, for example, between about 25.5 mm and about 75 mm. Particularly for larger nominal widths, two or more adapters 104 may also be combined with one another. The combined adapters 104 may be of equal length or at least partially different lengths.

In other embodiments, the embodiments described in FIG.

to Fig. 13 is constructed in substantially the same construction as in the previously described embodiments.

Claims (12)

1 * Apparatus for introducing elongate objects (26), such as cables or tubes, in clips (18) arranged inside stationary tubes (14), with a guide stand (12) movably supported on the tubular inner wall (14) in the tubular longitudinal direction (ft), with a bearing head (44) disposed radially movably on the guide frame (12) with respect to its longitudinal axis (22) and having at least one groove provided in the radially outward direction, extending radially outwardly (58, 53) for the object (20), and with a drive for moving the picking head (- ± /) in the radial direction, characterized in that the receiving head (44) has at least two parallel bearing grooves (58, 58 *) ) pr <j always one object (20). Device according to claim 1, characterized in that one of the bearing grooves (58) is arranged more outwardly in the radial direction than the other bearing groove 158) and is arranged in a bearing element (62) which can be pushed back in the radial direction. preferably against the force of the compression spring (64). Device according to claim 2, characterized in that at least one bearing groove (53) is arranged on each side of the tick element (62) when viewed in the circumferential direction. Device according to claim 2 or 3, characterized in that the bearing head (44) has two spaced-apart rows (56, 56) of the bearing grooves (58, 53 ') in the direction along the longitudinal axis (22). • 9,999 · * 9 9 · 9 9 9 9 9 φ 9 9 · * 9 9 9 9 9 9 9 99 99 999 Device according to one of Claims 1 to 4, characterized in that the guide stand (12) has a self-propelled channel robot carriage (22) with a rotating device (32) for rotating the storage head (44) about the longitudinal axis (12). 22). ϋ. Device according to one of Claims 1 to 0, characterized in that a guide device (74) for at least approximately at least approx. 1 is arranged on the guide stand (12) as viewed in the working direction (A) for introducing objects (20) in front of the storage head (44). parallel guidance of objects (20) directed to ϊ ϊ 1 λ * 7 n Á, 1 τ »4 Ir trí j Pí S fl Device according to claim 6, characterized in that the guide device (74) preferably has an individually adjustable friction brake (80, 80) for each object (20), Device according to one of the preceding claims, characterized in that the drive for the movement of the storage head 144) is provided in a main module (100) which can be mounted on the rotary device (02) with a self-propelled channel robot carriage (22). 44) and the guide device (74) can be connected to the main module (100) by means of at least one adapter (104, 106). Apparatus according to claim 8, characterized in that a pivoting drive (102) for the support wheel (70) is additionally provided in the main module (100). The device according to claim 3 or 9, characterized in that at least a portion of the necessary electronic components, pneumatic flf flflfl, is provided in the main module (100), flf flflfl flf fllfl. flflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflflfl valves and / or hyurauixt valves. Device according to claim 9 or 10, characterized in that the support wheel (70) is pivotable in accordance with a corresponding diameter of the stationary tube (14). Device according to one of Claims 6 to 11, characterized in that at least one guide lever (120) is associated with the guide device (74) and is adjustable between the holding position in which the articles (20) are held in the guide device a device (74), and between a release position in which it is pushed. Device according to one of Claims 0 to 12, characterized in that the guide device (74) has a guide body (88) provided with a cradle (76) which is pivotable on the base body (132) connectable to the main module (100). . Device according to claim 13, characterized in that the cradle (70) provided with the guide bodies (70) is pivotable relative to the base body (132) by means of at least one cylinder and piston unit (140). Device according to one of Claims 1 to 14, characterized in that the track width of the self-propelled channeled robot carriage (22) is adjustable in accordance with the diameter of the stationary tube (14),