Energy guide chain with traction rope detector assembly

Abstract

The invention relates to an energy-conducting chain (4) having an assembly for monitoring the energy-conducting chain, said assembly comprising a detector (40) having a traction cable (22). According to the invention, the assembly for monitoring has a flexible, pressure-rigid outer sheath (20) in the traction direction, in which outer sheath at least one longitudinal section of the traction cable (22) is guided, the outer sheath (22) and the longitudinal section of the traction cable extending therein being guided by the energy guide chain (4). According to the invention, the detector (40) is provided for detecting a relative movement of the traction cable (22) with respect to the outer sheath (20).

Description

Technical Field

[0001] The invention generally relates to the field of energy supply chains or dynamic line guides for guiding one or more lines, such as cables, hoses or the like, between two connection points, at least one of which is movable relative to the other.

[0002] The invention is not limited to a particular design of the energy guide chain or the dynamic pipeline guide. Typically, the energy guide chain has a plurality of chain links or segments connected to one another in the longitudinal direction of the chain, which can be bent relative to one another about at least one pivot axis or (possibly) several pivot axes. Background Art

[0003] Energy supply chains, in particular those which are only incompletely protected from external influences depending on the application, can be damaged during operation, for example by blocked foreign bodies. In this case, partial or complete breaks can occur. Even in protected energy supply chains, failures can occur in energy supply chains, for example due to excessive wear, excessive temperatures or other marginal conditions outside the specified range or simply due to exceeding the service life. In the worst case, the breakage causes one or more of the guided lines to fall off, which can cause the supplied machine or installation to stop operating. Summary of the invention

[0004] The invention therefore relates in particular to an energy supply chain having an arrangement for monitoring the energy supply chain, which arrangement can be used in particular for protection against the fallout of one or more guided lines, and to a corresponding monitoring system. The invention also relates to a detector arrangement for monitoring the energy supply chain.

[0005] The applicant has proposed this type of assembly for monitoring an energy guide chain in WO 2015 / 118143 A1, which assembly includes a detector and a traction rope, which extends in the longitudinal direction of the chain and mechanically cooperates with the detector, in particular for detecting a break in the energy guide chain. This system is successful on the market, but provides some potential for improvement. On the one hand, according to WO 2015 / 118143 A1, the guidance of the traction rope in the chain on the neutral axis of the energy guide chain can only be achieved by increasing the material and assembly costs. In addition, a relatively expensive sensor device (for example, an incremental transmitter as a displacement sensor) is required in the detector, and due to the different chain lengths depending on the application, the evaluation of the displacement sensor must be partially adapted to the application. In addition, the solution from WO 2015 / 118143 A1 is not easy to use for other energy guide chains. For example, the solution from WO 2015 / 118143 A1 cannot be easily applied to a so-called robot chain (energy guidance chain for articulated arm robots) with chain links that can be deflected spatially relative to one another, as proposed in WO 2004 / 093279 A1.

[0006] Further prior art regarding monitoring systems is also highly evaluated in the introduction to WO 2015 / 118143 A1, to which reference is made for the sake of brevity.

[0007] Based on the above-mentioned prior art, in particular the monitoring with a traction rope according to WO 2015 / 118143 A1, the first object of the present invention is to propose a solution that is more advantageous or better suitable for very different energy supply chains and / or applications. In this case, the solution should be as robust and durable as possible and / or be implemented in particular in energy supply chains for articulated arm robots with chain links that can be deflected relative to each other in space. In addition, the solution preferably allows a simplification of the sensor device or the detector in the detector.

[0008] The first-mentioned object is achieved by an energy supply chain having a detector arrangement according to claim 1 and, independently therefrom, by a detector arrangement according to claim 14. Dependent or coordinated claims 16 and 18 provide advantageous developments.

[0009] The energy transmission chain according to the invention has in particular an arrangement for monitoring the energy transmission chain, which arrangement comprises a detector and a pull rope which extends in the longitudinal direction of the chain and interacts mechanically with the detector, in particular in order to detect a break in the energy transmission chain.

[0010] Firstly, the energy guide chain according to the invention is characterized in that the assembly has a flexible, pressure-rigid outer sheath in the traction direction, in which at least one longitudinal section of the traction rope is guided, wherein the outer sheath is sufficiently pressure-rigid or dimensionally stable, in particular with respect to a spring used for prestressing, and / or is sufficiently pressure-rigid for use as an outer sheath of a traction rope. Furthermore, it is characterized in that the outer sheath with the longitudinal section of the traction rope extending therein is guided by the energy guide chain, in particular within the energy guide chain, at least along a longitudinal section of the energy guide chain to be monitored, in particular comprising a plurality of chain links or segments of the energy guide chain. Furthermore, the invention is characterized in that the detector, the outer sheath and the traction rope are arranged in such a way that the detector is provided and set up for detecting a relative movement between the traction rope and the outer sheath, wherein the detector is connected to one rope end of the traction rope, in particular for this purpose.

[0011] The core idea of ​​the invention is that the traction rope is guided in at least one longitudinal section in an additional outer sheath provided specifically for the traction rope according to the known Bowden cable principle or in the manner of a cable drive. The traction rope itself is not guided directly by the energy guide chain, but only indirectly by the outer sheath guided on or in the energy guide chain.

[0012] The Bowden cable is essentially made of an inner cable (core, traction cable, inner cable) or it is laid in an outer sheath (also called Bowden cable sheath or traction sheath) which is flexible but sufficiently pressure-rigid in the traction direction. The outer sheath serves to guide the inner cable and as a counter-support for supporting the traction force to be transmitted. The Bowden cable can thus transmit the traction force in a simple manner along an arbitrarily curved track (as long as it does not fall below a certain radius). According to the invention, this principle is considered to be particularly advantageous for the use of detectors with traction cables for force transmission in very different energy supply chains, in particular also in energy supply chains for articulated arm robots with cables that can be deflected relative to each other in space.

[0013] According to the Bowden cable principle, the relatively simple measures according to the invention for the additional outer sheath or the traction sheath of the traction rope provide a number of significant advantages. First, the traction rope with the outer sheath can be laid in the energy guide chain at any position of the receiving space (similar to the pipeline to be guided or together with them), and the arrangement on the neutral axis (the axis is typically not present in the chain link that can be deflected in space) is not necessary, because the traction rope has been fully guided by the outer sheath or the traction sheath. In addition, due to the outer sheath, a more easily adjustable preload can be set on the traction rope, which is basically not dependent on the chain length, but only on the rope traction length used. Thus, the sensor device can also be significantly simplified. In particular, the displacement measurement and displacement evaluation performed according to the application in terms of the deflection that occurs when the traction rope is running are not necessary. In addition, since the outer sheath or the traction rope sheath is realized in a simple manner, only a specific longitudinal section of the energy guide chain is monitored. Laying on the total length of the energy guide chain or monitoring the total length of the energy guide chain is also feasible and simplified. Furthermore, a detector arrangement having an outer sheath or a traction sheath for the traction cable is more robust with respect to external disruptive influences, for example, disruptive influences caused by movements of the pipeline within the energy supply chain.

[0014] The traction rope is permanently flexible, in particular soft. The traction rope is in particular low-strain, in particular has a strain (technical strain) under a nominal working load, that is to say under a nominal tensile load corresponding to normal operation (not in the case of breaking) of <3%, preferably <1% relative to the original length. Preferably, even at a doubled working load, the strain in the longitudinal direction remains within the linear elastic range. As traction ropes, for example, low-strain plastic ropes, for example made of Plastic ropes made of fibers, or wire ropes or wire strands, in particular steel ropes, can also be used.

[0015] The term "traction rope" is to be understood primarily in the broadest sense and also includes, for example, untwisted strands, soft ropes or the like, which have a sufficiently low strain for a given transmission of tension, for example a technical strain of <1% under a nominal working load (e.g. nominal pretensioning of the traction rope relative to a traction sheath or outer sheath by a traction spring).

[0016] In an advantageous embodiment, the arrangement has at least one tension spring, with which the pull cable is prestressed in the direction of tension with a prestress, in particular relative to the outer sheath.

[0017] The outer sheath or the pull rope sheath is preferably fastened separately and spaced apart from the pull rope in the pulling direction or in the longitudinal direction, for example fixedly at a connection point outside the energy guide chain or at one of the chain links of the energy guide chain.

[0018] Preferably, the Bowden cable is used as an outer sheath. Its inner diameter is preferably larger, in particular at least 1 mm larger, than the outer diameter of the inner rope or inner cable in order to produce the gap. A lubricant-free or maintenance-free Bowden cable sheath with a suitable plastic inner coating (for example made of Teflon) is particularly preferred.

[0019] It can preferably be provided that the assembly has an actuating element on the outer sheath at the end side, which actuating element can be moved relative to the compression-resistant outer sheath in the longitudinal direction of the chain. On the actuating element, the other rope end of the pulling rope facing away from the detector can be fixed in a tensile manner so that this end of the pulling rope cannot be retracted into the outer sheath. For this purpose, known methods, such as fixing by means of a clamping joint or a press joint, are sufficient.

[0020] One easily realizable embodiment provides that the actuating element is designed in the form of an end sleeve which can be pushed onto the outer sheath with play and holds the traction cable in the traction direction, for example corresponding to an end piece of a Bowden cable assembly.

[0021] It can be provided that the outer jacket is fastened in the longitudinal direction of the chain at a first fastening point, in particular to a chain link in or on the energy guide chain or to a connection point outside the energy guide chain.

[0022] In this case, the actuating element can be fastened in the longitudinal direction of the chain at a second fastening point, in particular at a chain link in or on the energy transmission chain or at another connection point outside the energy transmission chain.

[0023] In this case, in particular, mutually distant fastening points for the outer sheath and the pull rope end or the fastening element are selected such that the longitudinal section of the energy guide chain to be monitored is located between two fastening points in the chain longitudinal direction.

[0024] It can preferably be provided that the probe has a probe housing, to which preferably one end of the outer sheath is mounted, so that the probe housing forms a support for absorbing the pressure of this end of the outer sheath.

[0025] In particular, it can also be advantageously provided that the indicator element connected to the one rope end of the traction rope is supported in the detector housing movably, in particular movably by means of a linear guide. Furthermore, the detector housing can have an adjustment device, in particular an adjustment device with an adjustment screw, for axially displacing the outer sheath, in particular for the purpose of adjusting a preload relative to the outer sheath, the preload being generated by a traction spring or tensioning spring advantageously connected to the traction rope. Furthermore, the traction spring can be arranged on or in the detector housing. Here, the traction spring can act on the rope end of the traction rope connected to the detector and / or on the indicator element.

[0026] In a particularly simple embodiment of the detector, it can be provided that the detector has an indicator element connected to the one rope end of the traction rope, the indicator element being movably mounted, and the detector having at least one proximity switch, in particular an inductive and / or capacitive proximity switch, which interacts with the indicator element to generate a signal which depends on the position of the indicator element or which is indicative of the position. Commercial proximity switches, in particular inductive and / or capacitive proximity switches, are very inexpensive compared to displacement sensors and, due to the rope pull principle, in particular in combination with spring preload, a sufficiently accurate detection or differentiation of a break is achieved without requiring an exact position assessment of the traction rope end. It is only necessary to provide a suitable configuration of the indicator element with sufficient tolerance for false triggering (for example due to a longitudinal hole in the indicator element in the traction direction). In this case, the indicator element is moved in the traction direction by the traction rope when a break occurs in the chain, due to which the broken chain end causes a transverse load on the outer sheath.

[0027] In particular, the following embodiments have proven to be advantageous: in which the length of the outer sheath is a multiple of the chain division and / or at least 10% of the chain length, in particular at least 25% of the chain length; and / or the outer sheath extends along the energy guide chain, in particular within the energy guide chain, at least for the main part of its length; and / or the traction rope has a greater length than the outer sheath and / or is received in the outer sheath and guided therein for the main part of its length. The outer sheath can be designed as an elongated, in particular traction rope outer sheath (traction sheath), in particular for a Bowden cable. Tests have shown that a typical tensile-resistant outer sheath in the sense of a cable pull is not necessarily necessary, and other hose-like sheaths with a lower tensile strength may also be sufficient, such as a plastic fabric hose or the like. In this sense, the outer sheath only has to be sufficiently rigid with respect to the desired prestressing and with respect to the tensile force to avoid unintentional compression in the longitudinal direction. The outer sheath is preferably straight-through, in particular in the circumferential direction and along the closure in its longitudinal extension. The outer sheath is a flexibly tubular pull-cord sheath, ie it forms a hollow space or an inner space in which at least one longitudinal section of the pull-cord is guided, in particular in a longitudinally displaceable manner.

[0028] As in the Bowden cable, the outer sheath may also include a tubular flat or round wire spiral, which preferably has an inner lining tube made of plastic to avoid excessive friction of the traction rope and / or has an outer sheath made of plastic, in particular for protecting the pipeline guided in the energy guide chain.

[0029] Preferably, the outer sheath has a small outer diameter, preferably ≤10 mm, in particular ≤7 mm, so that it has as little space as possible for pipelines in the receiving space or inside the energy guide chain. Accordingly, a relatively thin traction rope is also preferred. The traction rope is designed in particular as a plastic rope or steel wire rope with low strain and can preferably be selected with a diameter of ≤3 mm, in particular with a diameter of ≤2 mm. Suitable commercially available instrument products can be used for the outer sheath and the traction rope.

[0030] With regard to the installation of the important components of the detector assembly (i.e. the detector, the outer sheath and the traction rope), it is preferably provided that the detector is fastened to a connection position of the energy guide chain, in particular a fixed connection position, and that the outer sheath has an end fixed relative to the detector position, in particular an end fixed to the detector or to a fastening point fixed relative to the detector position, from which one rope end of the traction rope is led out and which is connected to the detector.

[0031] According to the embodiment of the invention, the outer sheath with the pull cable guided therein is laid loosely at least in sections in the energy supply chain. This leads to a significant simplification in the production of the energy supply chain or the assembly of the detector assembly on the energy supply chain.

[0032] The configuration of the detector assembly according to the invention is particularly suitable for so-called robot chains (energy guide chains for articulated arm robots), that is, energy guide chains with chain links that can be deflected relative to each other in space. Here, the structural type of the energy guide chain can be consistent with the structural type from WO 2004 / 093279A1 or the structural type from EP1492967B1, for example. Here, the energy guide chain typically has chain links that can be bent relative to each other in at least two directions, especially in space or in a ball-and-socket joint manner. In most cases, an articulation connection is provided between each two articulated chain links connected to each other, wherein the chain links each have corresponding joint elements (preferably joint bodies, especially joint bodies of the ball-and-socket type) and have joint body receiving parts (especially ball-and-socket type joint body receiving parts). Here, each chain link has a receiving space that is open on the end side, which is delimited in particular by means of a circular arc-shaped guide element on the outside in the radial direction, and may be closed and surrounded by a guide element that can be folded upward or surrounded by an introduction opening, which is delimited by a curved guide element to insert a pipeline in the lateral direction. Typically, the chain links form at least one guide channel in the longitudinal direction of the chain. The outer sheath according to the invention with the longitudinal section of the pull rope extending therein can be arranged in the guide channel formed by the chain links and corresponding to the pipeline to be guided. Due to the outer sheath, the design according to the invention is compatible with any arbitrary and also spatially free extension of the energy guide chain.

[0033] Likewise, the configuration of the detector assembly according to the invention is suitable for conventional energy guide chains, such as those shown in WO 2015 / 118143 A1, to which reference may be made for the sake of brevity. Here, the energy guide chain is typically moved in a travel plane, such as in a vertical plane, by forming a first section, a second section and a deflection arc connecting the sections. Such energy guide chains are arranged one after the other in the longitudinal direction of the chain and can be bent relative to each other around a predetermined swing axis substantially perpendicular to the travel plane in order to form deflection arcs relative to each other. The articulated connection can be realized, for example, as a bolt receiving part rotational articulated connection, wherein the swing axes are respectively perpendicular to the travel plane and parallel to each other.

[0034] Typically, the first section is connected to a driver that is movable relative to one another, and the second section is connected to a stationary connection point.

[0035] In such conventional energy guide chains, it can be provided in particular that the outer sheath with the longitudinal section of the traction rope extending therein is arranged in a longitudinal section of the energy guide chain, preferably on the driver side, wherein the manipulable end of the traction rope or the manipulator of the traction rope is in particular fastened to a chain link in the energy guide chain or can be fixed in the longitudinal direction of the chain. The present invention can also be applied to chains with a cantilevered upper section and to sliding chains as shown in WO 2015 / 118143 A1. That is, in the following chain: wherein the first section can preferably slide or roll on the second section. In the case of conventional energy guide chains, it can be provided that the longitudinal section of the driver side of the energy guide chain starts from the end-side chain link on the driver and / or preferably includes at least 10% of the chain length, in particular at least 25% of the chain length.

[0036] The invention also relates to an assembly according to the invention for monitoring an energy guide chain (with its essential components in itself) without an energy guide chain. These components include a detector, a traction rope, which is connected to the detector with a rope end and mechanically cooperates with the detector, in particular for detecting a break in the energy guide chain to be monitored, and, in addition, according to the invention, an outer sheath or traction rope sheath that is flexible in bending, in particular pressure-rigid in the traction direction, in which at least one longitudinal section of the traction rope is guided. The detector can be arranged in a particularly simple manner for detecting a relative movement between the traction rope and the outer sheath. This can be done, for example, by means of only one commercially available proximity switch, such as an inductive proximity switch, which responds when the traction rope is deflected in a predefined manner relative to the outer sheath, in particular in the traction direction.

[0037] In this case, the detector arrangement for monitoring the energy supply chain itself can advantageously have any suitable combination of features of one or more of the embodiments discussed above.

[0038] The invention also relates to an application in robots, in particular in industrial articulated arm robots, and to a (articulated arm) robot comprising an energy guidance chain with a detector assembly, as proposed here or described above, in particular with an energy guidance chain that can be deflected in space.

[0039] In this case, the articulated arm robot can typically have a robot arm with a robot hand. In this case, an advantageous arrangement of components for monitoring the energy guide chain as completely as possible is that one end of the energy guide chain is fixed to a first connection point on the robot hand, wherein the cable end of the pull cable facing away from the detector is fixed to the robot arm in a fixed position relative to the first connection point, and the other end of the energy guide chain is fixed to a second connection point on the robot arm, wherein the detector and the outer sheath are fastened to the robot arm in a fixed position relative to the second connection point. In this case, the connection points are in particular selected such that the pull cable and the outer sheath extend through almost the entire energy guide chain or over the entire length of the energy guide chain.

[0040] The invention also relates to a monitoring system for protecting an energy guide chain from a line fall, comprising an evaluation unit, wherein the system is characterized by an energy guide chain or a detector arrangement according to the embodiments described here. In particular, the detector connected to the traction rope can be connected to the evaluation unit in terms of signal technology, wherein the evaluation unit is configured to evaluate a signal detected by the detector regarding a possible break in the energy guide chain and / or wherein, in the event of a break being detected, the evaluation unit preferably outputs an emergency stop signal and / or a maintenance signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Further details, advantages and features of the invention will be found in the following description of an exemplary embodiment based on the accompanying drawings. Here, the following are shown:

[0042] Figure 1 A schematic illustration of an articulated arm robot showing the lines (hoses and

[0043] The direction or arrangement of the guide portion of the cable or cable;

[0044] Figures 2A-2D :In the vertical longitudinal section ( Figure 2A ,according to Figure 2C In the section AA in the top view ( Figure 2C ) in the horizontal longitudinal section ( Figure 2B ,according to Figure 2C BB) and in the stereoscopic view ( Figure 2D ) in each case in a well-functioning state of an energy supply chain (which is shown only partially in each case) and an energy supply chain according to the invention having a detector arrangement;

[0045] Figure 3A-3B : respectively corresponding to Figure 2BIn the case of a break in the energy guidance chain ( Figure 3A ) or in the event of the energy guide chain and the traction rope of the detector assembly falling off ( Figure 3B )'s energy guidance chain and detectors; and

[0046] Figure 4 : (in a nominal rest position in a well-functioning, undamaged energy supply chain) through the detector itself according to an embodiment of the invention (according to Figure 2A BB) in an enlarged horizontal longitudinal section, according to the present invention, a traction rope guided in an outer sheath cooperates with the detector. DETAILED DESCRIPTION

[0047] exist Figure 1 The robot or articulated arm robot 1 shown by way of example in the figure has a base 2 with swivel arm segments 3a, 3b, 3c, 3d, 3e fastened thereto, wherein cables and hoses for an application not shown or an end effector not shown (e.g. a gripper, welding tongs or the like) are guided along the swivel arm segments 3a, 3b, 3c, 3d, 3e from a lower connection point A to an upper connection point B in an energy guide chain 4 to a robot hand with an end effector (not shown). Regardless of the type of robot, the energy guide chain 4 is hereby spatially deflectable or movable with at least three degrees of freedom at least in certain segments, so that the energy guide chain 4 can follow the movements of the joints of the articulated arm robot 1.

[0048] exist Figure 1 In the embodiment, the energy guide chain 4 is for example fixedly mounted on the upper connection point B and is for example rotatably fixed about its longitudinal axis and is held on the swivel arm 3b in a longitudinally movable manner by a bushing 5. Likewise, the energy guide chain 4 is fixed on the connection point A and extends to the upper connection point B.

[0049] An energy guide chain 4 which is particularly suitable for an articulated arm robot 1 is known per se and is described, for example, in WO 2004 / 093279 A1, to which reference may be made for the sake of brevity or whose teaching is hereby incorporated by reference. Advantageously, other energy guide chains, for example conventional energy guide chains or drag chains which can be moved in a plane, can also be equipped with the proposed detector assembly within the scope of the invention. An embodiment of the detector assembly is illustrated schematically in FIGS. 2-4 and will be described in more detail below.

[0050] exist Figures 2A-2DDetailed description of a partial section of a spatially deflectable energy transmission chain 4 according to the principle from WO 2004 / 093279 A1 is shown in detail in FIG. The individual chain links 7 have a central or central core with a ball joint head 7A and a corresponding ball joint receptacle 7B for connecting the chain links 7 (here, for example, in the form of a ball joint) in a spatially deflectable and tensile-resistant articulated manner in the longitudinal direction L. The chain links 7 each form a receiving space open on the end face, which is delimited by means of circular arc-shaped guide elements 7C on the outside in the radial direction, so that the chain links 7 form in the longitudinal direction of the chain at least one guide channel for a pipeline (not shown) of a desired application, for example in the longitudinal direction of the chain. Figure 1 The guide elements 7C are each connected to the central core (here in one piece) via a web.

[0051] The detector assembly 200 according to the present invention (see Figure 2A-2C ) has a flexible, pressure-rigid outer sheath 20 in the traction direction, in which the main part of the length of the traction rope 22 is guided. The outer sheath 20 with the longitudinal section of the traction rope 22 which is movably guided therein is guided along the longitudinal section C to be monitored, for example from Figure 1 The lower connection point A in the energy guide chain 4 is guided to the upper connection point B. The longitudinal section C includes a plurality of or preferably all chain links 7 or segments of the energy guide chain 4. Figures 2A-2D In the embodiment, the assembly with the outer sheath 20 and the traction rope 22 is arranged in the manner of a Bowden cable and guided inside the energy guide chain 4. Depending on the energy guide chain, laterally external guides on the energy guide chain (e.g. on a special mounting) are also conceivable, as proposed, for example, in WO 2016 / 146706A1.

[0052] Figure 4 A preferred design of a detector 40 is shown, which together with the outer sheath 20 and the pull rope 22 forms a further component of the detector arrangement 200 . The detector 40 is provided and designed for detecting a relative movement of the pull rope 22 relative to the outer sheath 20 .

[0053] The detector 40 has a detector housing 42, for example a detector housing made of two die-cast shells, in which an elongated, plate-shaped indicator element 44 is guided by a linear guide 46 so that it can be longitudinally moved in the longitudinal direction either toward the traction direction Z or against the traction direction Z. The indicator element 44 is connected to the first rope end 22A of the traction rope 22 at one end region, for example by means of a clamping plate 47 or the like. At the other end region, the indicator element 44 is connected to a traction spring 48, for example a coil spring, which is received in the detector housing 42 and applies a predetermined pretension in the traction direction Z to the rope end 22A of the traction rope 2 via the indicator element 44. The detector housing 42 has a base plate with a fastening plate for fastening, for example, to a robot arm, for example Figure 1 Near the lower joint point A in .

[0054] The respective first end 20A of the outer sheath 20 is also mounted on the probe housing 42 , wherein the probe housing 42 forms a support for absorbing the pressure of this end of the outer sheath 20 .

[0055] In order to adjust the preload of the outer sheath 20 and / or the traction rope 22, the detector housing 42 of the detector 40 has an adjustment device. Here, the adjustment device has, for example, an adjustment screw 49, which is implemented in the manner of an end piece with a thread for a rope or a Bowden cable and can be adjusted in the thread coaxially with respect to the longitudinal direction on the detector housing 42 relative to the detector housing. The adjustment screw 49 allows an axial movement of the first end 20A of the outer sheath 20 and thus enables adjustment of the preload on the outer sheath 20.

[0056] In addition, the detector assembly 200 has an operating part 24 on the end side of the outer sheath, which can be moved in the longitudinal direction L of the chain relative to the pressure-resistant outer sheath 20, and the second rope end 22B of the traction rope facing away from the detector is passed through the operating part and is installed and retained in a tensile manner to prevent loosening in the traction direction Z, for example by means of a compression joint or the like. The operating part 24 is implemented as a hollow end sleeve, which can be inserted with clearance on the second end 20B outside the outer sheath 20 by means of a receiving part 24 and can be moved in the longitudinal direction L relative to the outer sheath. The operating part 24 is mounted on the chain link 7 or on a fastening point outside the energy guide chain 4. The operating part 24 is, for example, fastened to the fastening point or at least immovable in the longitudinal direction, in particular is retained against the force in the traction direction Z, for example is retained at the upper connection point B ( Figure 1On the other hand, the end region of the outer sheath 20, near its first end 20A, is also fastened, for example, on or near the lower connection point A of the articulated arm robot 1, or is fixed to the position of the detector housing, for example, on the articulated arm robot 1 or on a chain link 7 fixed there.

[0057] The detector 40 has a sensor element for interaction with an indicator element 44 that is actuated in the longitudinal direction L by the first rope end 22A of the traction rope 22 and is thus adjustable. In the example shown here, exactly one proximity switch 50 is provided as the (here only) sensor element, for example an inexpensive inductive proximity switch. For this interaction, the indicator element 44 has a longitudinally elongated hole 44A, so that the proximity switch 50 generates a recognition signal only when a predetermined displacement or a predetermined deflection of the traction rope 22 occurs due to the relative movement of the traction rope 22 and the outer sheath 20.

[0058] exist Figure 3A and Figure 3B Two exemplary error situations that can be detected by the detector 40 are schematically and intuitively illustrated in FIG. 4 . In the case of a break in the energy supply chain 4 , such as in Figure 3A As schematically shown at X in FIG. 1 , a transverse load (load effect not shown) of a portion of the chain link 7 on the outer sheath 20 causes the second end 20B of the outer sheath 20 to be pulled out of the operating member 24 of the traction rope 22. This causes the indicator element 44 to move to the position at Figure 3A In the position shown in , the pull is completely pulled out against the pulling direction Z, so that the longitudinal hole 44A is no longer located above the proximity switch 50 and the proximity sensor triggers a signal, which indicates a break in the energy guide chain 4. In the case of a possible fault situation in the energy guide chain 4 and / or with the traction rope 22 (a crack in the traction rope 22 is also caused by a detector fault, Figure 3B In the case where the outer sheath 20 (schematically shown at Y in FIG. 1 ) is completely detached, the spring load caused by the traction spring 48 causes the traction rope 22A or the first end of the indicator element 44 to retract to the position indicated at the bottom of the traction rope 22A. Figure 3B In the position shown in , it is completely retracted in the pulling direction Z. In this case, the elongated hole 44A is no longer located above the proximity switch 50 and the proximity switch thus triggers a signal, for example for maintenance purposes.

[0059] The use of the outer sheath 20 in the manner described above significantly simplifies the design of the detector 40. This allows a very simple and cost-effective monitoring of the spatially deflectable energy guide chain 4 to be achieved for a robot.

[0060] The traction cable 22 or the pulling device and the outer sheath 20 operate the probe in the manner of a Bowden cable, wherein, however, no actual actuator is provided on the traction cable 22, but the load or break on the outer sheath 20 is to be measurable. For this purpose, the traction cable 22 has a greater length than the outer sheath 20 and / or is received in the outer sheath 20 for the majority of its length and guided therein.

[0061] Preferably, the length of the outer jacket 20 is a multiple of the longitudinal dimension of the chain segment or chain link 7 and / or at least 10%, in particular at least 25%, of the chain length of the energy guide chain 4. For reliable identification and / or simple assembly, the outer jacket 20 is guided at least for the main part of its length within the energy guide chain 4. In this case, the outer jacket 20 with the pull rope 22 guided therein can be laid loosely in the energy guide chain at least in sections.

[0062] Any suitable outer sheath 20 can be used, in particular a traction rope outer sheath for a Bowden cable, which tubularly forms a hollow space in which at least one longitudinal section of the traction rope 22 is guided. For this purpose, the outer sheath 20 can include a tubular and / or straight-through flat wire spiral or round wire spiral as a supporting element. The outer sheath 20 preferably has an outer diameter of ≤10 mm, in particular ≤7 mm. The traction rope can be embodied as a plastic rope or a steel wire rope and is selected to be as low-strain as possible, preferably with a diameter of ≤2 mm.

[0063] The invention is particularly advantageous for energy guide chains that can be deflected in space, but can also be applied to conventional energy guide chains that move in a plane, such as in WO 2015 / 118143 A1. Thus, for example, known devices (such as in WO 2015 / 118143 A1 Figure 1 A-1B) can be replaced by Figures 2A-2D The assembly proposed here for monitoring the energy supply chain not only allows a cost-effective design but also allows reliable detection of fault situations.

[0064] As also disclosed in WO 2015 / 118143 A1 (where Figure 1 A-1B), the detector connected to the traction rope can be connected to a suitable evaluation unit (not shown here) in terms of signal technology, which is configured to evaluate the signal detected by the detector with respect to a possible break in the energy guide chain 4. In the event of a break being detected, the evaluation unit can preferably output an emergency stop signal and / or a maintenance signal.

[0065] Reference numerals list

[0066] 1. Robot

[0067] 2 Base

[0068] 3a, 3b, 3c, 3d, 3e swing arm sections

[0069] 4Energy Guidance Chain

[0070] 5 Bushing

[0071] 7 links

[0072] 7A ball joint head

[0073] 7B ball joint receiving part

[0074] 7C guide element

[0075] 20 Outer sheath

[0076] 22 traction rope

[0077] 22A, 22B Rope ends

[0078] 24 operating parts

[0079] 40 detectors

[0080] 42 detector housing

[0081] 44 indicator element

[0082] 44A Longitudinal hole

[0083] 46 Linear guides

[0084] 47 Clamping plate

[0085] 48 traction spring

[0086] 49 Adjustment screw

[0087] 50 proximity switch

[0088] 200 detector components

[0089] A, B connection point

[0090] C longitudinal section

[0091] L chain longitudinal direction

[0092] X-Break (Energy Guidance Chain)

[0093] Y crack (traction rope)

[0094] Z pulling direction

Claims

1. An energy guiding chain (4) for guiding one or more pipelines such as cables, hoses or the like between two connection locations (A, B), in which at least one connection location is movable relative to the other connection location, the energy guiding chain comprising - a plurality of chain links or segments connected to one another in the longitudinal direction of the chain (7), said chain links or segments being able to be angled relative to one another about at least one pivot axis; and - an assembly for monitoring the energy guide chain, comprising a detector (40) and a traction rope (22), which extends in the longitudinal direction of the chain and mechanically cooperates with the detector, in particular for detecting a break in the energy guide chain, characterized in that The assembly comprises an outer sheath (20) which is flexible and pressure-rigid in the traction direction, in which at least one longitudinal section of the traction rope (22) is guided. The outer sheath (20) and the longitudinal section of the traction rope (22) extending therein are guided by the energy guide chain (4) at least along a longitudinal section to be monitored which includes a plurality of chain links (7) or segments of the energy guide chain (4), and The detector (40) is arranged and configured to detect a relative movement of the traction rope (22) relative to the outer sheath (20), and is in particular connected to a rope end (22A) of the traction rope (22).

2. The energy guidance chain according to claim 1, characterized in that The arrangement comprises a tension spring (48), by means of which the pull rope (22) is pretensioned relative to the outer sheath in the direction of the pulling force with a pretension.

3. The energy guidance chain according to claim 1 or 2, characterized in that: The assembly has an operating element (24) on the end side of the outer sheath (20), which can be moved in the longitudinal direction of the chain relative to the compression-resistant outer sheath (20) and to which the other rope end (22B) of the traction rope facing away from the detector is fixed in a tensile manner.

4. The energy guidance chain according to claim 3, characterized in that The outer sheath (20) is fixed in the longitudinal direction of the chain to a first fastening point, in particular to a chain link (7) in or on the energy guide chain (4) or to one of the connection positions (A, B) outside the energy guide chain, and the operating element (24) is fixed in the longitudinal direction of the chain to a second fastening point, in particular to a chain link (7) in or on the energy guide chain (4) or to another connection position (B, A) outside the energy guide chain, wherein the fastening points are selected so that the longitudinal section of the energy guide chain (4) to be monitored is located between the two fastening points in the longitudinal direction of the chain.

5. Energy supply chain according to any one of claims 1 to 4, in particular according to claims 2 and 3, characterized in that The probe (40) has a probe housing (42), to which one end of the outer sheath (20) is preferably mounted, so that the probe housing (40) forms a support for the pressure-absorbing end of the outer sheath, wherein - an indicator element (44) connected to the one rope end (22A) of the traction rope (22) is movably supported in the detector housing, in particular by means of a linear guide; and / or The detector housing (42) has an adjustment device, in particular an adjustment screw, for axially displacing the outer jacket (20), in particular for the purpose of adjusting the preload of the outer jacket (20); and / or The traction spring (48) is arranged on or in the probe housing (42) and acts on the cable end (22A) of the traction cable (22) and / or on the indicator element (44).

6. Energy guidance chain according to any one of the preceding claims 1 to 5, characterized in that The detector has an indicator element (44) connected to the one rope end (22A) of the traction rope, the indicator element is movably supported, and has at least one proximity switch (50), in particular an inductive and / or capacitive proximity switch, which acts together with the indicator element (44) to generate a signal related to the position of the indicator element.

7. Energy supply chain according to any one of the preceding claims, characterized in that The length of the outer sheath (20) is a multiple of the chain pitch of the energy guide chain and / or at least 10%, in particular at least 25% of the chain length; and / or The outer sheath (20) extends along the energy guide chain (4), in particular within the energy guide chain, at least for the main part of its length; and / or The traction rope (22) has a greater length than the outer sheath (20) and / or is received with a major part of its length in the outer sheath (20) and is guided therein.

8. Energy supply chain according to any one of the preceding claims, characterized in that The outer sheath (20) is designed as an elongated, in particular a pull rope outer sheath for a Bowden cable, which tubularly forms a hollow space in which at least a longitudinal section of the pull rope is guided, wherein - the outer sheath (20) preferably comprises a tubular and / or straight flat wire helix or a round wire helix; - the outer sheath (20) preferably has an outer diameter of ≤10 mm, in particular ≤7 mm; and / or The traction rope (22), in particular as a plastic rope or a steel rope, is designed to be low-strain, preferably with a diameter of ≤3 mm, with a diameter of ≤2 mm.

9. Energy supply chain according to any of the preceding claims, in particular according to claim 4, characterized in that The detector (40) is fastened to a connection position (A) of the energy guide chain (4), in particular a fixed connection point, and the outer sheath (20) has an end fixed relative to the detector (40), in particular an end fixed to the detector or to a fastening point fixed relative to the detector, and the one rope end (22A) of the traction rope is guided out of the end.

10. Energy supply chain according to any one of the preceding claims, characterized in that The outer sheath (20) with the pull rope (22) guided therein is laid loosely at least in sections in the energy transmission chain.

11. Energy supply chain according to any one of the preceding claims, characterized in that The energy guide chain (4) has chain links (7) which can be bent relative to each other in at least two directions, in particular spatially or in a ball-and-spherical manner, wherein an articulated connection (7A, 7B) is provided between each two chain links (7) which are articulated to each other, wherein each chain link (7) forms a receiving space which is open on the end face side and which is delimited by means of arc-shaped guide elements on the outside in the radial direction, so that the chain links (7) form at least one guide channel in the longitudinal direction of the chain, and the outer sheath (20) with the longitudinal section of the traction rope extending therein is arranged in the guide channel formed by the chain links.

12. Energy supply chain according to any of the preceding claims, in particular according to claim 3 or 4, characterized in that The energy guide chain is movable in a travel plane by forming a first section, a second section and a deflection arc connecting the sections, wherein the energy guide chain has the following chain links: the chain links are arranged one after the other in the longitudinal direction of the chain and can be bent relative to each other about a pivot axis substantially perpendicular to the travel plane to form the deflection arc, wherein the first section is preferably connected to a relatively movable driver and the second section is connected to a stationary joint point, wherein The outer sheath (20) and the longitudinal section of the traction rope (22) extending therein are arranged in a longitudinal section of the energy guide chain, preferably on the driver side, wherein the actuating element (24) of the traction rope (22) is in particular fastened to a chain link within the energy guide chain or fixed in the longitudinal direction of the chain.

13. The energy guidance chain according to claim 12, characterized in that The driver-side longitudinal section of the energy transmission chain begins at an end-side chain link on the driver and / or preferably comprises at least 10% of the chain length, in particular at least 25% of the chain length.

14. An assembly for monitoring an energy guide chain according to any one of claims 1 to 13, comprising -Detector (40) a traction rope (22) which is connected with one rope end (22A) to the detector (40) and interacts mechanically with the detector, in particular for detecting a break in the energy supply chain (4), and - a flexible outer sheath (20) which is pressure-rigid in the traction direction and in which at least one longitudinal section of the traction rope (22) is guided, in, The detector (40) is provided for detecting a relative movement between the traction rope and the outer sheath.

15. The device according to claim 14, characterized in that One or more of the characterizing features of any one of claims 1 to 10. 16 . A robot, in particular an industrial articulated arm robot ( 1 ), comprising an energy supply chain with a detector arrangement according to claim 1 , in particular comprising an energy supply chain ( 4 ) according to claim 11 .

17. The articulated arm robot (1) according to claim 16, comprising a robot arm (3a . . . 3e) having a robot hand, characterized in that: One end of the energy guide chain is fixed to a first joint position (B) on the robot arm, wherein the rope end of the traction rope (22) facing away from the detector (40) is fixed to the robot arm in a fixed position relative to the first joint position, and the other end of the energy guide chain (4) is fixed to a second joint position on the robot arm, wherein the detector (40) and the outer sheath (22) are fixedly fastened to the robot arm (3a...3e) in a fixed position relative to the second joint position (A).

18. A monitoring system for protecting an energy guide chain from line fall, comprising an evaluation unit and characterized in that An energy guide chain according to any one of claims 1 to 13 is provided, wherein a detector connected to the traction rope is connected to the evaluation unit in terms of signal technology, and the evaluation unit is configured to evaluate signals detected by the detector regarding a possible break in the energy guide chain, wherein the evaluation unit preferably outputs an emergency stop signal and / or a maintenance signal when a break is detected.

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