阅读说明：本技术 用于紧固到工业机器人臂的供应软管和/或供电管线的紧固设备 (Fastening device for fastening to a supply hose and/or a power supply line of an industrial robot arm ) 是由 B·乔斯顿 于 2018-02-23 设计创作，主要内容包括：本发明涉及一种用于紧固到工业机器人臂(121)的至少一根供应软管(113)和/或至少一根供电管线的紧固设备(101),具有保持架(103)、用于供应软管(113)和/或供电管线的可分配保持架单元(111)和可锁定的张紧元件(105),其中保持架(103)布置在可锁定的张紧元件(105)上,使得通过张紧元件(105)被扣住并锁定在工业机器人臂周围,保持架(103)可以柔性地紧固和/或定位在工业机器人臂(121)上,因此,在保持架(103)连接到可分配保持单元(111)的情况下,供应软管(113)和/或供电管线可以以特定方式定向。(The invention relates to a fastening device (101) for fastening at least one supply hose (113) and/or at least one power supply line to an industrial robot arm (121), having a holder (103), a dispensable holder unit (111) for the supply hose (113) and/or the power supply line, and a lockable tensioning element (105), wherein the holder (103) is arranged on the lockable tensioning element (105) such that the holder (103) can be flexibly fastened and/or positioned on the industrial robot arm (121) by the tensioning element (105) being snapped and locked around the industrial robot arm, so that the supply hose (113) and/or the power supply line can be oriented in a specific manner with the holder (103) connected to the dispensable holding unit (111).)

1. A fastening device for fastening at least one supply hose and/or at least one power supply line to an industrial robot arm, with a holder, an assignable holding unit for the supply hose and/or the power supply line and a lockable tensioning element, wherein the holder is arranged on the lockable tensioning element, and wherein the holder can be flexibly fastened and/or positioned on the industrial robot arm by means of the tensioning element being snapped and locked around the industrial robot arm, so that the supply hose and/or the power supply line can be oriented in a specific manner when the holder is connected to the assignable holding unit.

2. The fastening apparatus of claim 1, wherein the lockable tensioning element is guided through an interior of the cage.

3. The fastening apparatus according to claim 2, wherein the lockable tensioning element is guided in the longitudinal direction of the cage.

4. Fastening device according to one of claims 1 to 3, characterized in that the holder comprises an elastic material, such that when the tensioning element is snapped and locked around the industrial robot arm, the holder is positionally fixed by a frictional connection between the elastic material of the holder and the material of the industrial robot arm.

5. The fastening apparatus according to claim 4, characterized in that the holder comprises polyurethane, in particular with a Shore hardness of 30 ° to 60 ° Shore A.

6. Fastening device according to one of claims 4 or 5, characterized in that the elastic material and/or polyurethane of the holder encloses an angular range of 90 ° to 230 °, preferably 150 ° to 180 °, transverse to the longitudinal direction of the industrial robot arm, in the case of a frictional connection.

7. Fastening apparatus according to one of claims 4 to 6, characterized in that the holder is bendable flexible, such that the bendable flexible holder can be adapted to different diameters of an industrial robot arm.

8. Fastening device according to one of claims 1 to 7, characterized in that the holder and/or the bendable flexible holder comprises at least one cut or a plurality of cuts on the contact surface with the industrial robot arm, so that the holder and/or the bendable flexible holder can be formed on the industrial robot arm.

9. Fastening device according to one of claims 1 to 8, characterized in that the holders can be fixed in mutual positioning on an industrial robot arm by mechanical and/or chemical means.

10. The fastening apparatus according to one of claims 1 to 9, wherein the lockable tensioning element comprises a hook and loop fastener, a snap fastener, a clamp fastener, a crimp, a cam-type fastener, and/or a D-ring fastener.

11. Fastening device according to one of claims 1 to 10, characterized in that the fastening device comprises a fixing plate having at least one connecting unit for connecting the fixing plate to the dispensable holding unit and that the fixing plate is arranged on the holder.

12. Fastening apparatus according to claim 11 wherein the holder comprises receiving means to which the fixing plate is attachable or into which the fixing plate can be introduced such that the fixing plate is replaceable.

13. Fastening device according to claim 12, characterized in that the fixing plate is arranged within the holder, the at least one connection unit for connection to the holder being accessible from the outside.

14. Fastening device according to one of claims 1 to 13, characterized in that the fastening device and/or a plurality of the fastening devices comprise the holding unit and/or the supply hose and/or the supply line, so that the supply hose and/or the supply line can be guided along the outer contour of the industrial robot arm.

15. Fastening device according to one of claims 1 to 14, characterized in that the cage has a circular, oval, angular and/or rectangular profile.

Technical Field

The present invention relates to a fastening device for fastening to a supply hose and/or a power supply line of an industrial robot arm.

Background

Industrial robotic arms are used in industrial manufacturing and need to provide power, media, and/or data for their operation. For this purpose, usually respective hoses and/or control cables and power cables are led from a central supply unit to the industrial robot arm. These cables and hoses, for example air hoses, are guided individually or in bundles along the robot arm in flexible supply hoses.

Typically, the supply hoses and/or supply lines are secured to the robot arm with a tube clamp. However, installing and removing the pipe clamp is time consuming and in doing so damage to the robot arm may easily occur. Furthermore, due to the fixed mounting, the pipe clamp represents an interference profile that may interfere with and/or limit the operation of the robot arm.

It is known to guide the supply hose and/or the supply line along the robot arm within a rigid sleeve (e.g. made of a plastic material) and/or to hold the supply hose and/or line in a desired position by means of a separately arranged additional arm. However, in both cases, the working range of the robot arm is limited and the risk of collision increases.

Although the supply hoses and the supply lines can in principle also be guided within the robot arm, this makes maintenance and leak detection more difficult. Furthermore, if the industrial robot has to be adapted to different applications and/or different tools to be provided, expensive conversions are required. Especially when very small robots are used, it is not possible to guide the supply hose or the supply line within the very small robot arm due to insufficient space.

Furthermore, in particular very small robots are used in many different applications, each time the supply hoses and/or supply lines have to be re-equipped in an expensive manner for the new application.

Disclosure of Invention

The object of the present invention is to improve the prior art.

This object is achieved by a fastening device for fastening at least one supply hose and/or at least one power supply line of an industrial robot arm, having a holder, an assignable holding unit for the supply hose and/or the power supply line, and a lockable tensioning element, wherein the holder is arranged on the lockable tensioning element, such that the holder can be flexibly fixed and/or positioned on the industrial robot arm by snapping and locking the tensioning element around the industrial robot arm, such that the supply hose and/or the power supply line can be oriented in a specific manner when the holder is connected to the assignable holding means.

Thus, an adaptable fastening device is provided which is flexibly positionable along the longitudinal direction of an industrial robot arm and at any angle transverse to the longitudinal direction of the robot arm. Thus, the fastening device of the supply hose and/or the power supply line can be arranged in an optimum position on the industrial robot arm without adversely affecting the operation of the robot arm. Thus, the interference profile on the robot arm can be reduced, reducing the risk of collision.

Due to the use of the tensioning element for catching and locking, the fastening device is furthermore fastened to the industrial robot arm simply, quickly and safely. Thus, the fastening position can also be adjusted and/or corrected quickly, as well as the fastening device can be changed quickly, for example in the event of welding sparks leading to defects or damage.

It is particularly advantageous that, due to the fastening device, a tight guidance of the supply hose and/or the supply line takes place along the outer contour of the robot arm.

Since the tensioning element can be locked in different tensioning element lengths, the fastening device can be used for different robot types and/or different robot arm diameters. Thus, the fastening device can be used and combined universally. In particular, the fastening device can also be combined with conventional retaining means for the supply hose and/or the supply line, such as cable clamps and/or tensioning clamps.

One basic concept of the invention is based on: the fastening device of the supply hose and/or the power supply line can be fastened flexibly and in an easily detachable manner at any position of the industrial robot arm by means of the tensioning element, the holder connected to the tensioning element being optimally adapted to the outer contour of the industrial robot arm. Since the holder can be connected to a holding unit for the supply hose and/or the supply line, the supply hose and/or the supply line is oriented and/or guided in a defined manner onto the industrial robot arm.

The following terms are explained below:

"fastening device" refers in particular to a technical device for fastening and/or fixing a component to an industrial robot arm, a handling device, a machining apparatus and/or a machine tool. The fastening device is used in particular for fastening a supply hose and/or a supply line to an industrial robot arm. The fastening device comprises in particular a cage and a lockable tensioning element.

"supply hose" means in particular a flexible, elongate hollow body with a defined cross section for supplying an industrial robot with electric power, media and/or substances and/or information. In the supply hose, in particular, the medium or the substance (for example water or compressed air) is guided directly, or in the supply hose, the power supply line or lines and/or further hoses are bundled together for the supply of the medium. The supply hose may be, in particular, a corrugated hose, a corrugated pipe and/or a smooth hose. The supply hose has in particular a nominal diameter of DN 8 to DN100, preferably DN10 to DN 50. The supply hose has in particular a circular, oval, angular and/or rectangular contour.

"supply line" means in particular an electrical line for transmitting electrical current and/or information. The supply line comprises, inter alia, electrical conductors, for example in the form of wires or strands, and/or an insulating covering. The supply lines can also be, in particular, cables, single-core or multi-core composites (individual lines) as cores, which are coated with an insulating material. The supply lines have, in particular, a circular, elliptical, angular and/or rectangular contour.

"industrial robot arm" refers in particular to a movable arm of an industrial robot, which is used as a general-purpose programmable machine for handling, mounting or assembling and/or processing workpieces. The industrial robot arm comprises in particular a tool at its free arm end. The industrial robot arm comprises in particular six or more rotation axes. Industrial robot arms are in particular robot arms of very small robots.

A "holder" is to be understood to mean, in particular, a device for holding an object. The holder serves in particular to hold a holding unit and/or a fastening plate, on which the supply hose and/or the supply line is in turn held. For this purpose, the holder comprises in particular a connecting unit and/or a receiving device. The configuration of the holder makes it particularly suitable for and/or supported on the outer contour of the industrial robot arm.

A "holding unit" is a holder for supply hoses and/or supply lines. The holding unit may for example be a clamp, a tension clamp and/or a collet. The holding unit is in particular fixed, rotatable and/or pivotable. Alternatively, the holding unit can also be a hook and loop belt and/or other tensioning element which is guided externally around the supply hose and/or the supply line and is fixed directly to the holder and/or the fixing plate. It is particularly advantageous for the hook-and-loop strap to be used for fastening the supply hose or the supply line to the holder and at the same time also for fastening the holder to the industrial robot arm. In this case, the holding unit and the tensioning element are therefore identical and/or one component.

"tensioning element" refers in particular to a belt with a fastening element for fastening and fastening an object. The tensioning element is tensioned and locked, in particular, around the industrial robot arm. The belt of the tensioning element is in particular woven and/or comprises a plastic material. The tensioning element is composed in particular of polypropylene, polyester, nylon and/or cotton.

"latching" is to be understood in particular to mean that the tensioning element surrounds the industrial robot arm from the outside when it is clamped firmly under tension.

"can be fastened and/or positioned flexibly" means in particular that the holder can be fastened at any position of the industrial robot arm and can be adapted to its position simply and easily.

In a further embodiment of the fastening device, the lockable tensioning element is guided through the interior of the cage.

Since a partial length of the tensioning element is guided through the interior of the cage, the pressure of the tensioning element is exerted on the underlying material in the interior of the cage during the buckling. The material of the holder, which is located between the tensioning element and the industrial robot arm when buckled, is therefore optimally pressed or formed against the industrial robot arm by the tensioning pressure.

first, the lockable tensioning elements inside the cage can be firmly connected with the surrounding material of the cage, for example sealed in the material of the cage. Secondly, the lockable tensioning element is movably arranged inside a holder, which holder has in its interior a cavity corresponding to the dimensions of the lockable tensioning element, which lockable tensioning element is introduced into the cavity through an opening in the holder and leaves the cavity again at the other end of the holder through a second opening. The advantage of the latter variant is that the holder is displaceable along the tensioning element, so that it is easier to adapt to different robot arm diameters in the position on the tensioning element.

For optimal closure of the robot arm, the lockable tensioning element is guided in the longitudinal direction of the holder.

Thus, due to the guiding of the tensioning element in the interior of the cage in the longitudinal direction along the longitudinal dimension of the cage, a tensioning pressure can be exerted on the underlying material of the cage and pressed against the industrial robot arm.

"longitudinal direction" means the direction of the cage, which corresponds to the direction of its maximum extent.

In order to prevent the fastening device on the industrial robot arm from slipping, the holder comprises an elastic material, so that in the case of a fastening element which is snapped and locked around the industrial robot arm, the holder is positionally fixed by a frictional connection between the elastic material of the holder and the material of the industrial robot arm.

Thus, by means of the frictional connection, a positionally fixed and reliable fastening device is ensured in addition to the tensioning element.

To better accommodate the different diameters of industrial robot arms, the holder has flexible flexibility.

In particular, due to the use of an elastic material, the holder connected to the tensioning element has a flexible flexibility and deformability which makes it optimally adapted to the outer contour of the industrial robot arm.

A "flexurally flexible" cage is particularly advantageous because it exhibits an elastic behavior when bent, in particular deforms again into the original shape after bending, so that the shape of the flexurally flexible cage does not have to be adapted to the particular robot arm in advance.

Due to the elastic and bendable flexible design of the holder, the supply hose and/or the power supply line are subjected to a low counter bending stress due to the movement of the industrial robot arm. As a result, the service life of the supply hose and/or the supply line is increased.

"elastomeric material" means in particular an elastically deformable plastic material (elastomer). The elastic material is, for example, natural rubber or synthetic rubber. Elastic materials are particularly stretched under a tensile load and then contracted after the tensile stress has dropped.

The displacement of the two objects is prevented by a "frictional connection", in particular by static friction between the faces of these objects. In particular, the frictional connection is such that the elastic material of the holder and the material of the industrial robot arm do not move relative to one another, so that the holder is positionally fixed on the industrial robot arm.

"positionally fixed" is to be understood as meaning in particular that the positioning and/or position of the holder and the industrial robot arm relative to one another does not change.

In another embodiment of the fastening device, the holder comprises polyurethane, in particular polyurethane with a shore hardness of 30 ° to 60 ° shore a.

The use of polyurethane with a shore hardness of 30 ° to 60 ° shore a, preferably 40 ° to 50 ° shore a, as a cage is particularly advantageous, as an optimal frictional connection with the commonly used industrial robot arm material (aluminum) is achieved.

Thus, an anti-slip holder is provided that can be used on different surfaces, such as cast materials, aluminum, painted surfaces.

In order to provide a sufficient frictional connection area, in the case of a frictional connection, the elastic material of the holder and/or the polyurethane encloses an angular range of 90 ° to 230 °, preferably an angular range of 150 ° to 180 °, transversely to the longitudinal direction of the industrial robot arm.

In a further embodiment of the fastening device, the holder and/or the flexurally flexible holder has at least one cut or a plurality of cuts on the contact surface with the industrial robot arm, so that the holder and/or the flexurally flexible holder can be formed on the industrial robot arm.

it is particularly advantageous if the contact surfaces of the holders and/or the bendable flexible holders against the industrial robot arm are formed non-uniformly and/or with cut-outs, so that the holders can be bent better at these cut-outs, so that different robot arm diameters can be better adapted and/or formed. Furthermore, the anti-slip may also be achieved by an uneven arrangement.

The "notch" is in particular an indentation in the holder, which indentation opens on the side of the contact surface of the holder with the industrial robot arm. Preferably, the cage has a plurality of cutouts in its longitudinal direction, possibly in different forms, for example circular, angular and/or triangular, and the cutouts have different depths.

In another embodiment of the fastening device, alternatively or additionally, the holders may be fixed in position with respect to each other on the industrial robot arm by mechanical and/or chemical means.

Therefore, even if the weight of the power supply line and/or the supply hose is large and also in the case of a large range of movement and thus bending stress, slipping can be prevented.

"mechanical and/or chemical means" means in particular means that the movement between the adjacent faces of the holder and the industrial robot arm is prevented by mechanical and/or chemical forces. For example, the "chemical means" may be, for example, a pressure sensitive adhesive, which may be a permanent adhesive or again releasable. For example, the "mechanical means" may be, for example, a protrusion on the holder that engages in a groove on the industrial robot arm. As a mechanical means, for example, a barbed hook and loop tape may also be arranged on the holder, and an associated hook and loop tape with a loop may be arranged on the industrial robot arm, forming a hook and loop fastener.

To ensure a secure locking of the tensioning element even in case of large movements of the industrial robot arm, lockable tensioning elements include hook and loop fasteners, snap fasteners, clamp fasteners, crimps, cam type fasteners and/or D-ring fasteners.

In another embodiment, the fastening device comprises a fixing plate having at least one connecting unit for connecting the fixing plate to the dispensable holding unit, the fixing plate being arranged on the holder.

Since the fixing plate is attached to the holder, the plate is used for the holder to which the supply hose and/or the power supply line is attached, and although the holder has elasticity, sufficient rigidity can be secured to hold the supply hose and/or the power supply line even in the case where the industrial robot arm moves over a wide range. The supply hose and/or the supply line are thus oriented and/or guided in a defined manner on the industrial robot arm.

The "fixing plate" is in particular a rigid plate to which the holding units of the supply hoses and/or the supply lines can be connected or connected. The "fixation plate" comprises, for example, a rigid material, such as metal and/or ceramic. The fastening plate comprises in particular a connection unit for firmly connecting a holding unit for supply hoses and/or supply lines. For example, the "connection unit" may be a thread, a groove, a key groove, and/or the like.

In a further embodiment of the fastening device, the holder comprises receiving means to which the fixing plate can be attached or into which the fixing plate can be introduced such that the fixing plate is exchangeable.

An optimum connection between the cage and the fastening plate is thus ensured by the receiving means.

It is particularly advantageous if the receiving device is embodied such that, during the latching operation, by tensile stress on the holder, the receiving device is also deformed such that the fastening plate is pressed against the holder and in the direction of the industrial robot arm. It is therefore advantageous if the receiving device and/or the holder at least partially surrounds the fastening plate.

Thus, it is possible to change a replaceable fixing plate having a holding unit for a supply hose and/or a power supply line without having to detach the holding unit from the connection unit of the fixing plate.

the "receiving means" are in particular slots, cutouts or cavities in the holder, on which or into which the fixing plate can be placed.

In order to achieve a stable position of the fixing plate, the fixing plate is arranged within the holder, and at least one connection unit for connecting to the holding unit is accessible from the outside.

Due to the arrangement of the fixing plate within the holder, in case the tension belt is tensioned, the tensioning stress is transferred from the holder to the fixing plate, thereby pressing the fixing plate against the underlying tension belt and the industrial robot arm. Hereby, a positional fixation of the fixation plate and the holding unit connected to the power supply line and/or the supply hose is achieved.

In another embodiment, the fastening device and/or the fastening means comprise a holding unit and/or a supply hose and/or a supply line, so that the supply hose and/or the supply line can be guided along the outer contour of the industrial robot arm.

Thus, the power supply line and/or the supply hose can be guided tightly along the outer contour of the industrial robot arm and still be subjected to low reverse bending stresses.

To allow use on different industrial robot arms, the holders have a circular, oval, angular and/or rectangular profile.

Thus, depending on its shape, the holder rests directly on the industrial robot arm or is supported at one or more points on the industrial robot arm. The distance of the supply hose and/or the power supply line from the industrial robot arm can thus also be set in the form of a holder.

In another aspect of the invention, the object is achieved by an industrial robot arm for handling, assembling and/or processing workpieces, wherein the industrial robot arm comprises at least one supply hose and/or at least one power supply line for supplying power, medium and/or signals, and at least one fastening device, wherein the fastening device is fastened to an industrial robot arm, comprising a holder, a dispensable holding unit for supply hoses and/or supply lines and a lockable tensioning element, wherein the holding unit is connected to a holding frame, the holding frame is arranged on lockable tensioning elements, and the holding frame, the supply hose and/or the supply line are oriented in a specific manner by means of a tensioning element which is snapped and locked around the industrial robot arm, flexibly fastened and/or positioned on the industrial robot arm.

In another embodiment of the industrial robot arm, the fastening device is the previously described fastening device, or the supply hose and/or the power supply line is the previously described supply hose and/or the previously described power supply line.

Drawings

The invention will be discussed in more detail below with reference to examples of embodiments. Wherein:

Figure 1 is a schematic cross-sectional view of a fastening holder with a corrugated hose,

Figure 2 is a schematic cross-sectional view of an industrial robot arm with five fastening holders and a bellows,

Figure 3 is a schematic cross-sectional view of a fastening cage with a rigid cage on an industrial robot arm with a large diameter,

Figure 4 is a schematic cross-sectional view of a fastening cage with a rigid cage on an industrial robot arm with a medium diameter,

FIG. 5 is a schematic cross-sectional view of a fastening cage with a rigid cage on an industrial robot arm having a small diameter

Fig. 6 is a schematic cross-sectional view of a fastening holder with a PU holder and hook-and-loop tape for simultaneously fastening a bellows to the PU holder and the PU holder to an industrial robot arm.

Detailed Description

The fastening cage 101 comprises a safety belt 105, and the safety belt 105 comprises hook and loop fasteners 109 at its two ends. Further, the fastening holder 101 includes a PU holder 103 and a steel plate 107. The safety belt 105 is guided through the interior of the PU holder 103, assuming for the safety belt 105 closed by the hook-and-loop fastener 109 that the length of the PU holder 103 corresponds to the 180 ° angle 117 of the closed safety belt 105 length and to the 180 ° angle 117 of the periphery of the closed industrial robot arm 121.

the steel plate 107 is disposed in a cavity inside the PU cage 103. The steel plate 107 comprises two threads into which two screws 115 of the rotatable clamp 111 are screwed. In this case, two screws 115 are guided into the steel plate 107 through two openings in the PU cage 103. The rotatable clamp 111 carries a bellows 113 inside. The corrugated hose has a nominal diameter DN 25.

The industrial robot arm 121 includes six rotational shafts. An assembling tool 123 for assembling a workpiece is provided at the tip of the industrial robot arm 121. The assembly tool 123 is connected to a central supply 125 by a bellows hose 113. In the corrugated hose 113, power lines, signal lines and air hoses are led from a central supply 125 to a tool 123.

Five fastening holders 101 have been positioned and fastened at five positions along the industrial robot arm 121 by tightening the respective safety belts 105 and locking by the respective hook and loop fasteners 109. The fastening holders 101 are positionally fixed by frictional connection between the face of the respective PU holder 103 and the contact face of the industrial robot arm 121, said PU holders 103 in each case abutting against the industrial robot arm 121, said industrial robot arm 121 being composed of aluminum.

The bellows 113 is connected in each case by means of a rotatable clamp 111 to the five fastening holders 101, so that the bellows 113 is guided tightly along the industrial robot arm 121.

Due to the elastic PU cage 103 of each fastening cage 101, the bellows 113 is guided along the industrial robot arm 121 in a bendable, flexible manner, and due to the movement of the industrial robot arm 121 during assembly, the bellows 113 is subjected to only slight bending stresses. Due to the tight guidance of the bellows 113, no disturbing contours due to the fastening of the holder 101 occur in the working range of the industrial robot arm 121. Thus, an optimum supply of power, signals and compressed air to the industrial robot arm 121 is achieved by the tightly guided bellows 113 without impairing the operation of the industrial robot arm 121 when assembling the workpieces.

In an alternative, the fastening cage 201 comprises a rigid cage 203 made of acrylic/butadiene/styrene copolymer. Furthermore, the fastening holder 201 comprises a polyester tape 205 with a clamping fastener 209.

The rigid cage 203 is formed angled on the inside of its two branches and comprises two threads 225 on its upper side. The polyester tape 205 is guided through the rigid holder 203.

for fixing around the industrial robot arm 221, a polyester tape 205 with a rigid cage 203 is tensioned around the industrial robot arm 221 and fastened and locked by hook and loop fasteners 209.

The industrial robot arm 221 has a large diameter of 250mm, and therefore the rigid holder 203 is located at the upper part of the outer periphery of the industrial robot arm 221 with both ends of its branches, the distance between the two branches enclosing a 90 ° angle of the outer periphery of the industrial robot 221.

A clamp (not shown) is then screwed into the threads 225 by screws and a supply hose (not shown) carrying a plurality of data and cables inside it is clamped into the clamp.

After using the fastening holder 201 on the industrial robot arm 221, the fastening holder 201 with the rigid holder 203 is correspondingly fastened to the industrial robot arm 231. The average diameter of the industrial robot arm 231 is 150mm, so the rigid holder 203 is located on the industrial robot arm 231, not at the two-branch end, but on the inside. In this case, the rigid holder 203 encloses an angle of 135 ° of the outer periphery of the industrial robot arm 231.

In a later application, the fastening holder 201 with the rigid holder 203 is similarly fastened to an industrial robot arm 241 with a small diameter of 75 mm. The rigid holder 203 is located in the center of the inside of its branches on the industrial robot arm 241 and entirely surrounds the 180 ° angle 117 of the circumference of the industrial robot arm 241.

Thus, the fastening holder 201 with the rigid holder 203 can be flexibly used for different industrial robot arms.

In another alternative, the fastening holder 301 comprises a flexible PU holder 303, a hook and loop strap 305 with hook and loop fasteners 309, and a semi-circular container 340. The PU holder 303 comprises two transverse lead-in slots 330, by means of which the hook-and-loop belts 305 are guided in each case through the upper part of the PU holder 303. Along the two branches of the PU cage 303, hook and loop belts 305 are in each case located outside between the guide rails.

For installation, the hook and loop tape 305 is introduced through the introduction slot 330, thereby forming a semicircle on the semicircular container 340. The fastening holder 301 is then positioned at a desired point outside the industrial robot arm 321. A corrugated hose 313 having an outer diameter of 29.4mm is passed between the upper hook ring belt 305 and the PU holder 303, and laid in a semicircular container 340 of the PU holder 303. The hook and loop strap 305 is fastened around the corrugated hose 313 and the industrial robot arm 312 and locked by the hook and loop fastener 309. As a result, in one operation step, the bellows 313 is fastened to the PU holder 303, while the PU holder 303 is fastened to the industrial robot arm 321. Due to the non-uniform embodiment of the PU holder 303 on the inner contact surface with the industrial robot arm 321, the PU holder 303 adapts better to the diameter of the industrial robot arm 321 and is slip-resistant.

Thus, providing a fastening holder 301 without screws and tools makes a quick mounting possible and has a very low overall height, which is only slightly higher than the height of the corrugated hose 313.