WO2024254827A1

WO2024254827A1 - Harness protection device for industrial robot

Info

Publication number: WO2024254827A1
Application number: PCT/CN2023/100438
Authority: WO
Inventors: Xiaodong Cao; Yu Zhou; Mattias Lindevall; Zhu Zhu; Yan Zhang; Xianfeng Deng; Enzhong LU
Original assignee: ABB Schweiz AG
Current assignee: ABB Schweiz AG
Priority date: 2023-06-15
Filing date: 2023-06-15
Publication date: 2024-12-19
Anticipated expiration: 2025-12-15
Also published as: KR20260022426A; CN121263281A; EP4727734A1

Abstract

Embodiments of the present disclosure relate to a harness protection device (100) for an industrial robot. It comprises a protection pipe (20) comprising a first end (22), a second end (24) opposite to the first end (22), and an inner chamber, the protection pipe (20) being configured to receive a harness (30) within the inner chamber; a first fixing device configured to receive the protection pipe (20) in a sealing manner and configured to attach the protection pipe (20) to a first arm (110) of the industrial robot at the first end (22); and a second fixing device configured to receive the protection pipe (20) in a sealing manner and configured to attach the protection pipe (20) to a second arm (130) of the industrial robot at the second end (24), the first arm being movable with respect to the second arm.

Description

HARNESS PROTECTION DEVICE FOR INDUSTRIAL ROBOT

FIELD

Embodiments of the present disclosure generally relate to an industrial robot, and more specifically, to a harness protection device for the industrial robot.

BACKGROUND

Industrial robots are widely used in industry fields. An industrial robot typically comprises a manipulator formed by a plurality of joints each of which includes one or more actuators and a plurality of structural arms connecting the adjacent joints. An end effector may be fixed to an end flange of the manipulator and are designed to perform various tasks. The actuators can be controlled to control a posture of the manipulator. Harnesses, such as power cables, communication cables, gas conduits for pneumatic actuators, and the like, are provided on different arms of the manipulator. With these harnesses, it is possible for the actuators, sensors, and other functional components located at different positions of the manipulator (such as different joints and/or the end flange) to be powered and/or to communicate with other devices constituting the robot.

In many applications, such as machinery industry, agricultural machinery, transporting industry, food industry, pharmaceutical industry, and the like, the harnesses are exposed to the surroundings. These harnesses typically comprise plastic casings. When the industrial robot operates over time, particles may be produced due to continuous friction among the harnesses, which is detrimental to the environment and fails to meet “clean room” requirements.

SUMMARY

Example embodiments of the present disclosure provide a harness protection device for an industrial robot, a fixing device for a harness, and an industrial robot which can prevent generated particles of the harness from discharging to the environment.

In a first aspect of the present disclosure, there is provided a harness protection device for an industrial robot. The harness protection device for an industrial robot comprises a protection pipe comprising a first end, a second end opposite to the first end, and an inner chamber, the protection pipe being configured to receive a harness within the inner chamber; a first fixing device configured to receive the protection pipe in a sealing manner and configured to attach the protection pipe to a first arm of the industrial robot at the first end; and a second fixing device configured to receive the protection pipe in a sealing manner and configured to attach the protection pipe to a second arm of the industrial robot at the second end, the first arm being movable with respect to the second arm. With this arrangement, the harnesses are sealed within the protection pipe. Even if particles are generated, the generated particles are collected within the protection pipe and are prevented from discharging to the environment.

In some embodiments, at least one of the first fixing device and the second fixing device may comprise a support frame configured to be fixed to the respective arm and comprising a passage communicating a first side to a second side opposite to the first side; and a retainer configured to hold the harness and arranged within the passage and comprising a channel for passage of the harness from the first side to the second side. With this arrangement, the harness protection device can be fixed to the robotic arm while the harness can be guided through the retainer.

In some embodiments, the retainer may be an elastic body configured to be received within the passage in a sealing manner. With this arrangement, a sealing effect can be achieved at an interface between the retainer and the support frame.

In some embodiments, the retainer may comprise at least two separate elastic bodies defining a portion of the channel respectively. With this arrangement, the harnesses can be sealing held within the channel.

In some embodiments, the support frame may comprise a body part comprising the passage; and a flange part fixed to the body part and configured to receive the protection pipe at an outer circumferential side of the flange part. With this arrangement, the protection pipe can be fixed around the flange part.

In some embodiments, the device may further comprise a sealing gasket arranged between the body part and the flange part.

In some embodiments, the retainer may comprise a sealing body part comprising the channel; and a flange part configured to receive the protection pipe at an outer circumferential side of the flange part.

In some embodiments, the body part may be integrally formed with the flange part via injection molding.

In some embodiments, the flange part may be tubular-shaped and may comprise a chamber for receiving the harness.

In some embodiments, the protection pipe may be fitted around the flange part at the outer circumferential side of the flange part in a sealing manner.

In some embodiments, the protection pipe may be fixed around the flange part via at least one of the following: a cable tie, a clip, a strapping tape, or snap-fit. With this arrangement, a sealing effect can be achieved at an interface between the protection pipe and the flange part.

In some embodiments, the device may further comprise lubricating oil arranged within the protection pipe.

In some embodiments, the protection pipe may be made of flexible material selected from at least one of the following: polyurethane, thermoplastic urethane, thermoplastic elastomer, thermoplastic rubber, thermoplastic polyether ester, or cloth.

In a second aspect of the present disclosure, there is provided a fixing device for a harness. The fixing device comprise a support frame configured to receive a flexible protection pipe at a first side and configured to be fixed to a robotic arm at a second side opposite to the first side and an a passage communicating the first side to the second side; and a retainer configured to hold the harness and arranged within the passage and comprising a channel for passage of the harness from the first side to the second side.

In a third aspect of the present disclosure, there is provided an industrial robot. The industrial robot comprises a manipulator, and a harness protection device according to any of the first aspect.

It would be appreciated that this summary is not intended to identify key features or essential features of embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become evident through the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

Through the following detailed descriptions with reference to the accompanying drawings, the above and other objectives, features and advantages of the example embodiments disclosed herein will become more comprehensible. In the drawings, several example embodiments disclosed herein will be illustrated in an example and in a non-limiting manner, wherein:

Fig. 1 is an overall view of an industrial robot according to one example embodiment of the present disclosure;

Fig. 2 is a perspective view of a fixing device for the harness according to a first example embodiment of the present disclosure;

Fig. 3 is a sectional view of Fig. 2.

Fig. 4 is a perspective view of a fixing device for the harness according to a second example embodiment of the present disclosure including the harnesses;

Fig. 5 is an exploded view of the fixing device shown in Fig. 4; and

Fig. 6 is a sectional view of Fig. 4.

Throughout the drawings, the same or similar reference symbols are used to indicate the same or similar elements.

DETAILED DESCRIPTION OF EMBODIMENTS

Principles of the present disclosure will now be described with reference to several example embodiments shown in the drawings. Though example embodiments of the present disclosure are illustrated in the drawings, it is to be understood that the embodiments are described only to facilitate those skilled in the art in better understanding and thereby achieving the present disclosure, rather than to limit the scope of the disclosure in any manner.

The term “comprises” or “includes” and its variants are to be read as open terms that mean “includes, but is not limited to. ” The term “or” is to be read as “and/or” unless the context clearly indicates otherwise. The term “based on” is to be read as “based at least in part on. ” The term “being operable to” is to mean a function, an action, a motion or a state that can be achieved by an operation induced by a user or an external mechanism. The term “one embodiment” and “an embodiment” are to be read as “at least one embodiment. ” The term “another embodiment” is to be read as “at least one other embodiment. ” The terms “first, ” “second, ” and the like may refer to different or same objects. Other definitions, explicit and implicit, may be included below. A definition of a term is consistent throughout the description unless the context clearly indicates otherwise.

Fig. 1 is an overall view of an industrial robot 100 according to one example embodiment of the present disclosure. As shown in Fig. 1, the industrial robot 100 comprises a base 150, a plurality of joints 140, 160, and a plurality of connecting arms 110, 130. The joints 140, 160 and the connecting arms 110, 130 constitute a manipulator of the robot.

Typically, various harnesses are provided at different positions of the manipulator. One typical harness is a power cable. Each joint may include one or more actuators. The actuator, for example, may include a motor, a reduction gear, and the like. These actuators are hard wired powered. Thus, cables for power are generally provided so as to supply power to the actuators. Another typical harness is a communication cable. Sensors are typically mounted on the manipulator. For example, position sensor may be arranged within the actuator to sense positions of the rotation shaft of the actuator. Some force sensors may be arranged at an end flange of the manipulator to sense a force applied by the tool. In some applications, a camera may be arranged at the connect arm and/or the end flange to capture images of a work object and/or its surroundings. These sensor data are transmitted to a controller provided in the base. Thus, communication cables may be needed along the robotic arm. In some applications, a tool mounted at the end flange may include a pneumatic actuator. Gas pipes may be provided along the robotic arm so as to supply pressured gas to the pneumatic actuator or discharge the gas from the pneumatic actuator. Thus, gas pipes may be needed to be provided along the robotic arm. It is to be understood that the above shown examples are merely illustration and the harnesses may include other functional forms.

The manipulator is designed to move in the work space. These harnesses may be of different length and may be arranged at different positions of the manipulator. If these harnesses are not properly fixed, there is a risk that the harnesses may twist and get tangled, which may cause damage to the robot. Another problem with respect to these harnesses is related to environment pollution. These harnesses typically include a plastic casing. When the manipulator moves around in the work space, the harnesses may generate particles due to friction among the casings of the harnesses during operation of the manipulator. These particles may be detrimental to the environment, which does not meet “clean room” requirements. According to the present disclosure, a harness protection device is provided to obviates or mitigate the above technical problem.

As shown in Fig. 1, two harness protection devices 100 are provided at a lower portion and an upper portion of the industrial robot 1 respectively. The two harness protection devices are substantially the same. With the harness protection devices, the harnesses can be fixed properly in position on the manipulator and the generated particles during operation of the manipulator is prevented from discharging to the environment.

The harness protection device 100 may include a protection pipe 20. The protection pipe 20 is a tubular shape and may include a first end 22 and a second end 24 opposite to the first end 22. An inner chamber is defined between the first end 22 and the second end 24. The first end 22 and the second end 24 may be open. The harness 30 thus can extend through the protection pipe 20 from one end to the other end. The protection pipe 20 may be fixed to one robotic arm at the first end and fixed to another arm at the second end. The protection pipe 20 is made of flexible material which allows a relative movement between one end of the protection pipe 20 and the other end of the protection pipe 20.

As one robotic arm moves relative to another robotic arm, harnesses connected thereto are subject forces, such as a twisting force, a bending force and the like. Particles are generated due to friction among the harnesses during operation of the manipulator. The harness protection device is configured to prevent particles from leaking out from the protection pipe 20 to the environment. Thus, the protection pipe 20 should provide well sealing performances at their interfaces while movement of harnesses is allowed. Also, the harnesses should provide well sealing performances at their interfaces. The protection pipe 20 may be of soft material with high flexibility. The material also is designed with long service lifetime to avoid frequent replacement of the protection pipe 20. In some embodiments, the soft and flexible material can be polyurethane, thermoplastic urethane, thermoplastic elastomer, thermoplastic rubber, thermoplastic polyether ester, cloth, and the like. It is to be understood that the above material types are merely illustrative and the protection pipe 20 may be of other proper material. In some embodiments, lubricating maters, such as oil, may be arranged within the protection pipe. Friction among the harnesses can be further reduced. Thus, life time of the protection device can be further improved.

As shown in Fig. 1, a first fixing device 10a may be provided and may be fixed to the first arm 110a. The first end 22 of the protection pipe 20 can be fixed to the first fixing device 10a in a sealing manner. The first fixing device 10a may include a passage 122 through which the harness 30 may extend. The passage 122 allows the harness 30 to be arranged at different arms without interruption. Due to a sealing arrangement between the protection pipe 20 and the first fixing device 10a and a sealing arrangement between the harnesses 30 and the first fixing device 10a, the generated particles cannot leak out from the inner chamber of the protection pipe 20 at the first end 22. Likewise, a second fixing device 10b may be provided and may be fixed to the second arm 130. The second end 24 of the protection pipe 20 can be fixed to the first fixing device 10b in a sealing manner. The second fixing device 10b may include a passage through which the harness 30 may extend. The passage allows the harness 30 to be arranged at different arms without interruption. Due to a sealing arrangement between the protection pipe 20 and the second fixing device 10b and a sealing arrangement between the harnesses 30 and the second fixing device 10b, the generated particles cannot leak out from the inner chamber of the protection pipe 20 at the second end 24.

As shown in Fig. 1, there is a plurality of harnesses. The harnesses may be arranged in parallel. In the shown example, there are two harness protection devices which are arranged at the upper and lower portion of the manipulator respectively. It is to be understood that the above shown arrangement are merely illustration and the industrial robot may include any number of the harness protection device and the harness protection device may be arranged at other proper positions where particles are likely to produced.

The harnesses may firstly extend from the base 150 and then branches to different robotic arms. At the lower portion of the industrial robot 1, a lower harness protection device 100a is provided. The lower harness protection device 100a includes two fixing devices 10a, 10b. One fixing device 10a is provided at the base 150 and the other fixing device 10b is provided at the connecting arm 130. The harnesses from components located at the base or the floor goes into the lower fixing device 10b, into the protection pipe 20, then into the upper fixing device 10a, and then out of the lower harness protection device 100a. As the connecting arm 130 moves with respect to the base 150, the harnesses from the base 150 to the connecting arm 130 may generate particles due to friction. Provision of the lower harness protection device can prevent the generated particles from discharging to the environment.

In some embodiments, a slot 135 may be arranged in the connecting arm 30. Part of the harnesses 30 may go into the slot 135 and are then connected to the joints 140, 160 respectively. The remaining harnesses 30 arrive at the upper harness protection device. As the harnesses to be connected to the joints 140, 160 may be fixed on the connecting arm 130, there is no relative movement between the connecting arm 130 and the harnesses, the harnesses may be exposed. As for the remaining harnesses 30, as the connecting arm 130 moves with respect to the connecting arm 110, the harnesses from the connecting arm 130 to the connecting arm 110 may generate particles due to friction. An upper harness protection device is further provided. As shown, the harnesses from connecting arm 130 goes into the lower fixing device 10b, into the protection pipe 20, then into the upper fixing device 10a, and then out of the upper harness protection device 100b. Provision of the upper harness protection device 100b can prevent the generated particles from discharging to the environment.

The first fixing device 10a and the second fixing device 10b may be of various forms as long as the harnesses can be arranged with in the inner chamber of the protection pipe 20 in a sealing manner while allows the harnesses to go through the fixing devices. The first fixing device 10a and the second fixing device 10b may be of the same configuration or be of different configuration.

Figs. 2-3 show structural details of a fixing device 10 of a harness protection device 100 according to a first example embodiment of the present disclosure. Fig. 2 is a perspective view of the fixing device 10 and Fig. 3 is a sectional view of Fig. 2. As shown in Figs. 2-3, the fixing device 10 may include a support frame 12 and a retainer 14. The retainer 14 is used for retaining or holding the harnesses 30. The support frame 12 is used to support the assembly of the retainer 14 and the harnesses. The protection pipe 30 may be fixed to the support frame 12 or the retainer 14. The support frame 12 can be fixed to a robotic arm. Thus, the harnesses 30 can be fixed on the robotic arm. The support frame typically is a rigid member. For example, the support frame may be made of metal. A corresponding fixing bracket 16 may be provided on the robotic arm. The support frame 12 may be fixed to the fixing bracket 16, for example via screw fasteners.

In order to receive the retainer 14, the support frame 12 may include a passage 122 communicating a first side to a second side opposite to the first side. The harnesses thus can extend through the retainer 14 from the first side to the second side. To prevent particles generated within the protection pipe 20 from discharging to the environment, the retainer 14 is configured to hold the harness 30 in a sealing manner. The retainer 14 may include one or more channels 142. The harnesses 30 may go through the retainer 14 via the channels 142.

The support frame 12 may be of various shapes. In the shown example, the support frame 12 is in form of bracket with one side open. Another support bracket 16 may be provided on the robotic arm. The shape of the retainer 14 mates a shape of the channel. In the shown example, the retainer 14 may be a cuboid form. Thus, a sealing effect may be achieved via pressure contact between the retainer 14 and inner walls of the support frame 12. It is to be understood that the shapes of the support frame 12 and the retainer 14 can be any other proper shapes as long as a sealing contact is achieved there between. In the shown example, screw fasteners 17 are used for connecting the support frame 12 to the robotic arm. It is to be understood that the support frame 12 may be connected to the robotic arm via any other proper mechanical means.

In some embodiments, the retainer 14 may be an elastic body. With the elasticity of the retainer 14, the sealing performances between the support frame 12 and the retainer 14 can be improved. Also, as the harnesses 30 passes through the retainer 14 via the channels 142, an interface is formed between the retainer 14 and the harnesses 30. This interface may be a leakage path of the particles generated within the protection pipe 20. When the retainer 14 is an elastic body, interfaces between the harness 30 and the retainer 14 can be easily sealed by deformation of the elastic material of the retainer.

In some embodiments, the retainer 14 may include a plurality of parts each of which may define a portion of the channel 142. The harness 30 may be firstly placed within one part of the retainer 14. Then, other parts of the retainer 14 are placed on the part holding the harness 30 to form a complete channel 142. The assembled retainer 14 can then be placed within the passage of the support frame 12. Thus, the harness 30 are sealing held within the retainer 14.

The protection pipe 30 may be fixed to the support frame 12 or the retainer 14. In some embodiments, as shown in Figs. 2 and 3, the protection pipe 30 is fixed to the retainer 14. The retainer 14 may include a sealing body part 144 and a flange part 146. The sealing body part 144 includes a length in the direction that the harness runs. The channel 142 is provided in the sealing body part 144. The flange part 146 is configured to receive the protection pipe 20 at an outer circumferential side of the flange part 146. In the shown example, the flange part 146 is integrally formed with the sealing body part 144, for example, via injection molding. In other embodiments, the flange part 146 is mechanically fixed to the sealing body part 144, for example, via adhesive, thermal fusion and the like.

An outer dimension of the flange part 146 may be larger than the outer dimension of the sealing body part 144. A stop adjacent to the support frame 12 may thus be formed by the flange part 146. Thus, the support frame 12 can abut the flange part 146. The flange part 146 may include a lateral portion 123 for fixing. The size of the protection pipe 20 may match that of the flange part 146. The flange part 146 may be a tubular shape and includes inner chamber. In the shown example, the protection pipe 20 is fixed to the flange part 146 at the outer circumferential side thereof. It is to be understood that this is merely illustrative and the protection pipe 20 may be fixed to any other proper positions of the flange part 146. There are various means for fixing the protection pipe 20 around the flange part 146. In the shown embodiments, the protection pipe 20 may be fixed around the flange part 146 via a cable tie 23. It is to be understood that this is merely illustrative and the protection pipe 20 may be fixed to the flange part 146, for example, via a clip, a strapping tape, a snap-fit, and the like.

Figs. 4-6 show a fixing device 10 of a harness protection device 100 according to a second example embodiment of the present disclosure including the harnesses. Fig. 4 is a perspective view of the fixing device for the harness; Fig. 5 is an exploded view of the fixing device; Fig. 6 is a sectional view. The fixing device 10 shown in Figs. 4-6 are substantially the same as that shown in Figs. 2-3. The following description mainly focuses on their differences.

As shown in Figs. 4-6, the fixing device 10 may include a support frame 12 and a retainer 14. The retainer 14 is used for retaining or holding the harnesses 30. The retainer 14 may include one or more channels 142 for passage of the harnesses 30. The support frame 12 is made of a rigid member (for example metal) and is used to support the assembly of the retainer 14 and the harnesses 30. As shown in Figs. 4-6, the support frame 12 may include a body part 124 and a flange part 126. The body part 124 includes a passage 122 for receiving the retainer 14. The flange part 126 is configured to receive the protection pipe 20. The support frame 12 can be fixed to a robotic arm via the body part 124.

In some embodiments, the retainer 14 may be an elastic body. The retainer 14 can be received within the body part 124 in a sealing manner due to the elasticity of the retainer 14. When the retainer 14 is an elastic body, interfaces between the harness 30 and the retainer 14 can be easily sealed by deformation of the elastic material of the retainer.

A size of the body part 124 may be smaller than that of the flange part 126. This may be beneficial for fixing connecting the body part 124 to the flange part 126. The body part 124 may be a frame form. The body part 124 includes a body which defines the passage 122. One or more first fixing portion 123 laterally extends from the body. Via the first fixing portion 123, the body part 124 can be fixed to a fixing bracket 16 by screw fasteners. It is to be understood that other mechanical means can be contemplated. The body part 124 also includes a second fixing portion 125 which laterally extends from the body at a side adjacent to the protection pipe 20. The second fixing portion 125 may abut a portion of the flange part 126. The flange part 126 may include a tubular portion 129 which is configured to receive the protection pipe 20 and an annular fixing portion 127 which is configured to connect to the body part 124. Via the first fixing portion 125, the body part 124 can be fixed to a fixing bracket 16 for example by screw fasteners 15. It is to be understood that the body part 124 and the flange part 126 may be of any other proper forms. In the shown embodiments, the protection pipe 20 may be fixed around the tubular portion 129 via a cable tie 23. The tubular portion 129 may include a circumferential groove for receiving the cable tie 23. It is to be understood that this is merely illustrative and the protection pipe 20 may be fixed to tubular portion 129, for example, via a clip, a strapping tape, a snap-fit, and the like.

In some embodiments, a sealing gasket 18 may be arranged between the body part 124 and the flange part 126. The sealing gasket 18 may be made of flexible material and provides sealing under pressure. With the sealing gasket 18, the sealing performances at the interfaces can be further improved.

According to the present disclosure, the harness protection device can prevent particles generated by the harnesses from discharging to the environment. Accordingly, clean room requirements for the industrial applications are met.

Through the teachings provided herein in the above description and relevant drawings, many modifications and other embodiments of the disclosure given herein will be appreciated by those skilled in the art to which the disclosure pertains. Therefore, it is understood that the embodiments of the disclosure are not limited to the specific embodiments of the disclosure, and the modifications and other embodiments are intended to fall within the scope of the disclosure. In addition, while exemplary embodiments have been described in the above description and relevant drawings in the context of some illustrative combinations of components and/or functions, it should be realized that different combinations of components and/or functions can be provided in alternative embodiments without departing from the scope of the disclosure. In this regard, for example, it is anticipated that other combinations of components and/or functions that are different from the above definitely described will also fall within the scope of the disclosure. While specific terms are used herein, they are only used in a general and descriptive sense rather than limiting.

Claims

A harness protection device (100) for an industrial robot, comprising

a protection pipe (20) comprising a first end (22) , a second end (24) opposite to the first end (22) , and an inner chamber, the protection pipe (20) being configured to receive a harness (30) within the inner chamber;

a first fixing device configured to receive the protection pipe (20) in a sealing manner and configured to attach the protection pipe (20) to a first arm (110) of the industrial robot at the first end (22) ; and

a second fixing device configured to receive the protection pipe (20) in a sealing manner and configured to attach the protection pipe (20) to a second arm (130) of the industrial robot at the second end (24) , the first arm being movable with respect to the second arm.
The device according to claim 1, wherein at least one of the first fixing device and the second fixing device comprises

a support frame (12) configured to be fixed to the respective arm and comprising a passage (122) communicating a first side to a second side opposite to the first side; and

a retainer (14) configured to hold the harness (30) and arranged within the passage (122) and comprising a channel (142) for passage of the harness (30) from the first side to the second side.
The device according to claim 2, wherein the retainer (14) is an elastic body configured to be received within the passage (122) in a sealing manner.
The device according to claim 3, wherein the retainer (14) comprises at least two separate elastic bodies defining a portion of the channel (142) respectively.
The device according to any of claims 2 to 4, wherein the support frame (12) comprises

a body part (124) comprising the passage (122) ; and

a flange part (126) fixed to the body part and configured to receive the protection pipe (20) at an outer circumferential side of the flange part (126) .
The device according to claim 5, further comprising a sealing gasket (18) arranged between the body part (124) and the flange part (126) .
The device according to any of claims 2 to 4, wherein the retainer (14) comprises

a sealing body part (144) comprising the channel (142) ; and

a flange part (146) configured to receive the protection pipe (20) at an outer circumferential side of the flange part (126) .
The device according to claim 7, wherein the body part (124) is integrally formed with the flange part (126) via injection molding.
The device according to any of claims 5 to 8, wherein the flange part is tubular-shaped and comprises a chamber for receiving the harness (30) .
The device according to any of claims 5 to 9, wherein the protection pipe (20) is fitted around the flange part (126) at the outer circumferential side of the flange part (126) in a sealing manner.
The device according to claim 10, wherein the protection pipe (20) is fixed around the flange part (126) via at least one of the following: a cable tie, a clip, a strapping tape, or snap-fit.
The device according to according to any of the preceding claims, further comprising lubricating oil arranged within the protection pipe (20) .
The device according to according to any of the preceding claims, wherein the protection pipe (20) is made of flexible material selected from at least one of the following: polyurethane, thermoplastic urethane, thermoplastic elastomer, thermoplastic rubber, thermoplastic polyether ester, or cloth.
A fixing device for a harness (30) , comprising

a support frame configured to receive a flexible protection pipe (20) at a first side and configured to be fixed to a robotic arm at a second side opposite to the first side and an a passage (122) communicating the first side to the second side; and

a retainer (14) configured to hold the harness (30) and arranged within the passage (122) and comprising a channel for passage (122) of the harness (30) from the first side to the second side.
An industrial robot comprising

a manipulator, and

a harness protection device (100) according to any of claims 1-13.