Guiding device for guiding at least one cable located in protective hose, having sensor device with ultrasonic transmitter, and retrofit kit and method for monitoring movement of such protective hose

Abstract

The invention relates to a guide device (20) for guiding at least one cable (14) located in a protective hose (16), comprising a guide unit (28) with a fastening support (24) and a fastening element (34) for fastening the protective hose (16). In order to detect a movement of the fastening element (34) relative to the support (24), a sensor device (26) is arranged, which has a transmitter (38A) as a first sensor part, which is designed as an ultrasonic transmitter, for transmitting a sensor signal (S), and a second sensor part, in particular a reflector (38B), which is opposite in the longitudinal direction. A signal path (LS) extending in the longitudinal direction is formed between the two sensor parts (38A, 38B). In order to design the sensor device (26) economically and reliably at the same time, a reflecting surface (52) for the sensor signal (S) is arranged laterally next to the signal path (LS) in such a way that during operation at least part of the sensor signal (S) is reflected on the reflecting surface (52) on the way from the transmitter (38A) to the second sensor component (38B).

Description

Technical Field

[0001] The invention relates to a guide device for guiding at least one cable in a protective hose, as well as a retrofit kit and a method for monitoring the movement of such a protective hose. Background Art

[0002] Guide devices are used, in particular, to guide so-called dresspacks in multi-axis articulated-arm robots, especially multi-axis industrial robots. In current multi-axis industrial robots, several individual cables are typically routed to the frontmost articulated arm, also known as the robot hand, for supplying tools mounted on the robot hand, such as welding tools. These cables include, for example, power supply cables, electrical control cables, data cables, and media lines for gases or liquids. These cables are combined in so-called dresspacks and are typically loosely guided in protective hoses. These dresspacks are subject to high loads, both due to the relative movement of the articulated arms and, in particular, due to the often harsh environmental conditions (high temperatures, aggressive media such as welding spatter, etc.). The protective hose is particularly exposed to high stresses. So-called bellows are often used as protective hoses.

[0003] To achieve reliable guidance of the dresspack, a guide device with a return mechanism is usually used. This guide device is designed to enable compensating movements of the dresspack during the relative movement between the two articulated arms. Such a guide device in an industrial robot can be found, for example, in EP 2 956 277 A1.

[0004] High stress on the protective hose can lead to damage, thus compromising its protective effect. If a damaged protective hose is not promptly replaced or repaired, this can lead to failure of the cables routed within it, potentially causing malfunctions and downtime. In highly automated production facilities and industrial environments, damaged protective hoses often cannot be detected in a timely manner because access for, for example, visual inspection is either non-existent or only conditional.

[0005] DE 10 202 3 201 837, which was unpublished at the time of filing, describes a method for monitoring the movement of a protective hose by means of a sensor system. Summary of the Invention

[0006] Based on this, the object of the present invention is to design such a sensor device in an economical and at the same time reliable manner.

[0007] According to the invention, this object is achieved by a guide device having the features of claim 1, a conversion kit for forming such a guide device, and a method having the features of claim 13. The advantages and preferred embodiments listed with respect to the guide device can also be incorporated into the conversion kit and the method in their entirety, and vice versa.

[0008] A guide device is typically used to guide at least one cable located in a protective hose, in particular the cables of a multi-axis articulated arm robot, more specifically a multi-axis industrial robot. The guide device is fastened to the robot during operation. Typically, when installed, the guide device is fixed to a processing device having at least two machine parts that are movable relative to one another. The at least one cable, preferably multiple cables, and the protective hose form a dress pack. The cables and protective hose are not required, but are preferably part of the guide device. In the installed state and during operation, the protective hose is mounted on the guide device and, at least in this case, forms part of the guide device.

[0009] The guide device has a guide unit extending in the longitudinal direction, which includes a fastening element to which the protective hose is fixed during operation. In addition, the guide unit includes a fixed support, which is preferably fixed immovably to the articulated arm robot in the installed state. With regard to the guide unit, it is in particular an independent, compact construction unit, which itself can be mounted on a machine, in particular on an articulated arm robot, for example by means of a support. For example, the support is a base plate of a support housing of the guide unit. Generally speaking, the support itself can also be part of the machine. The guide unit is, for example, a known guide unit, such as those described in the above-mentioned EP 2 956 277 A1.

[0010] During operation, the protective hose, which is fixed to the fastening element, moves relative to the support along the support. The fastening element is mounted on the support and is slidable in the longitudinal direction along the support. This serves, in particular, to achieve compensating movements of the protective hose and at least one cable guided therein during operation.

[0011] Furthermore, the guide device has a sensor device which is designed to measure the movement of the fastening element relative to the support. Preferably, movement data, in particular the movement pattern of the protective hose, are recorded during operation.

[0012] The sensor device is therefore used and designed in particular to at least indirectly measure the movement of the protective hose during operation in which the protective hose is installed, in order to record movement data of the protective hose.

[0013] The sensor device includes a transmitter designed as an ultrasonic transmitter as a first sensor component, the transmitter being designed to emit ultrasonic sensor signals. A second sensor component is mounted longitudinally opposite the transmitter. During operation, the sensor signal is transmitted from the transmitter to the second sensor component and thus along a signal path extending in the longitudinal direction. The transmitter and the second sensor component are at least indirectly connected, on the one hand, to a fixed support and, on the other hand, to a movable fastening element, such that the transmitter and the second sensor component can perform relative movements corresponding to relative movements between the fastening element and the support during operation of the articulated arm robot.

[0014] To enable reliable measurements with sufficient signal strength, according to the present invention, a reflective surface for the sensor signal is arranged adjacent to the signal path. The reflective surface is designed and arranged such that, during operation, at least part of the sensor signal is reflected at the reflective surface on the way from the transmitter to the second sensor element.

[0015] The second sensor component is preferably a reflector that reflects the sensor signal and directs it toward the transmitter. Therefore, in this embodiment, a receiver for the (reflected) ultrasonic sensor signal is also preferably arranged at the transmitter's location. The transmitter and receiver can, in particular, form a common construction unit. The reflector is, for example, a plate with a reflective surface, in particular a metal plate or a plate made of polymer.

[0016] As an alternative to this embodiment, it is also possible to design the second sensor component as a receiver. However, the embodiment with a reflector is preferred.

[0017] In a preferred embodiment, the transmitter, in particular a common construction unit comprising transmitter and receiver, is fixedly connected to the support, and the reflector is mounted on a movable fastening element. Thus, only the passive reflector is movable, and the active components of the sensor device, in particular those connected via electrical wiring, are fixedly mounted.

[0018] This embodiment with a lateral reflective surface is based on the fact that ultrasonic transmitters, especially those with reasonable cost, typically have relatively large emission angles. This requires a large sensing surface on the second sensor component for reliable signal detection. However, for such guidance devices, especially on industrial robots, it is important to have a compact and space-saving arrangement to keep the interference profile on the robot as small as possible. Therefore, the sensor device must be designed to be as compact as possible, which means that there is insufficient space available for the sensing surface. Therefore, only a small sensing surface can be used, which leads to the risk that part of the sensor signal will not be reflected by the reflector and / or will not reach the receiver. This makes reliable evaluation of the ultrasonic sensor signal at least difficult. By placing the reflective surface laterally beside the signal path, at least part of the sensor signal is reflected on this reflective surface, and the portion of the signal reflected by the reflector or reaching the receiver is increased compared to a solution without a reflective surface.

[0019] The reflective surface is preferably positioned directly beside the signal path. The signal path is generally defined herein by the longitudinally extending connecting line between the emitter (more precisely, the midpoint of the emitter) and the second sensor element. The reflective surface is arranged a few centimeters, in particular a few millimeters, adjacent to the signal path and thus in close proximity to this connecting line. For example, its lateral distance from the connecting line is a maximum of 5 cm, preferably a maximum of 1 cm, in particular only a maximum of 8 mm, and particularly only a maximum of 5 mm. The minimum distance is, for example, 3 mm.

[0020] In a preferred embodiment, a non-reflective area is formed opposite the reflective surface in such a way that the portion reflected on the reflective surface is not reflected multiple times. Therefore, losses are intentionally accepted. This is based on the consideration that multiple reflections would interfere with the evaluation of the sensor signal measured at the receiver.

[0021] Preferably, the sensor device is integrated in a sensor housing, which is arranged next to the support. The sensor housing has an inner side that forms a reflective surface. The sensor device as a whole is better protected from environmental influences by the sensor housing.

[0022] The sensor housing preferably has at least one opening on the side opposite the reflective surface or is completely open there. The opening preferably extends over the entire maximum length between the emitter and the second sensor element. The opening is designed to be at least large enough to prevent the aforementioned multiple reflections or at least to significantly reduce them compared to a closed design of the sensor housing.

[0023] The opening preferably has an opening width of at least 10% of the sensor housing width (housing side forming the opening), further preferably at least 20%, and further preferably at least 50%.According to one embodiment, the opening width corresponds to the width of the sensor housing.

[0024] The entire sensor housing is preferably designed to have a rectangular cross section, and is, for example, square in shape, and has a width of, for example, 4 cm to 8 cm on the housing side where the opening is formed.

[0025] Alternatively or additionally, the opening has an opening width of at least 15 mm or at least 25 mm.

[0026] The second sensor component is preferably connected to the fastening element of the guide unit via a connecting element, wherein the connecting element is guided through the opening. The opening width is preferably selected to be greater than the thickness of the connecting element so as to form a free opening gap between the opening and the connecting element. Therefore, for signal guidance purposes, the opening width is selected to be relatively large. For this purpose, it is consciously accepted that the protection of the interior of the sensor housing from the environment, and therefore from environmental influences, is reduced due to the relatively wide opening.

[0027] The opening width is in particular a multiple of the thickness of the connecting element, for example at least 2 times, or at least 3 times or also at least 5 times. The opening gap, ie the difference between the thickness of the connecting element and the opening width, is preferably greater than 15 mm.

[0028] Taking into account a possible good reflection, the distance of the second sensor component to the reflecting surface is selected to be small and in particular only a few millimeters. Preferably, the distance is less than 8 mm, in particular less than 5 mm, more preferably less than 3 mm.

[0029] Alternatively, or in addition to such an opening, the sensor housing may include a surface that absorbs sensor signals on at least one side opposite the reflective surface. Furthermore, other wall areas adjacent to the inner side with the reflective surface may also be provided with such an absorbent surface. In this embodiment, the inner side of the sensor housing is thus designed differently. While one inner wall area forms the reflective surface, the other inner wall area forms the absorbent surface.

[0030] In order to form a surface which absorbs the sensor signals, the wall region or the corresponding wall region is designed appropriately and is provided, for example, with a covering layer made of a suitable sound-absorbing material such as felt or foam.

[0031] The reflective surface is preferably formed by the material of the sensor housing itself. It is preferably metal, in particular aluminum. The sensor housing is designed, for example, as an extruded profile, which is preferably closed at its opposite front end side.

[0032] The support of the guide unit preferably has a support housing or can be connected to it. A reset mechanism is usually accommodated within the support housing and is protected therein. The sensor device is usually arranged adjacent to the support and therefore also adjacent to the support housing, in particular, outside the support housing.

[0033] In particular, in an alternative embodiment with a sensor housing, the outer wall of the support housing is designed as a reflective surface. Thus, in this embodiment, the sensor device is not housed in a separate, specifically separate sensor housing. Instead, the transmitter and the second sensor component are arranged directly adjacent to the support housing, and at least a portion of the support housing is designed as a reflective surface. Advantageously, only a portion of the support housing is designed as a reflective surface, in particular by appropriately designing the surface of the support housing. Other surface areas of the support housing are, for example, designed differently.

[0034] The transmitter preferably has an emission angle for the sensor signal that is greater than or equal to 20° or greater than or equal to 30° and preferably amounts to a maximum of 50°. In particular, the emission angle lies in the range of 25° and 35°.

[0035] Ultrasonic transmitters usually transmit ultrasonic signals into a conical spatial region (transmission cone). The transmission angle is understood herein to be the cone angle (opening angle) of such a transmission cone, ie the angle enclosed by the side surfaces of the transmission cone.

[0036] The distance between the transmitter and the second sensor element is preferably a maximum of 45 cm, preferably a maximum of 40 cm, and more preferably a maximum of 35 cm. This distance corresponds in particular to the travel of the fastening element. Therefore, the transmitter and the second sensor element are preferably mounted relative to one another in such a way that the maximum distance between them corresponds at least approximately (+ / - 5 cm) to the maximum travel. This distance varies during operation due to the relative movement between the support and the fastening element.

[0037] Furthermore, the second sensor element and therefore in particular the reflector has a width of less than 25 cm 2 , especially less than 15cm 2 and more preferably less than 10 cm 2 The sensor surface is preferably rectangular. This small sensor surface allows for a very compact overall sensor device. The dimensions of the reflector correspond in particular to the dimensions of the sensor surface, so that the reflector is formed in particular by the sensor surface.

[0038] Overall, the dimensions described here enable reliable measurement and evaluation of the ultrasonic sensor signals.

[0039] The movement sequences of the fastening element relative to the mount and thus of the protective hose during operation can therefore be reliably recorded and evaluated.

[0040] Based on the recorded movement profile, the protective hose is checked for damage through appropriate evaluation. Alternatively or additionally, the movement profile of the entire guide unit is also checked for disturbances. In particular, changes in the movement pattern of the guide unit, for example due to altered operating settings, can also be checked in addition or as an alternative. The types and methods of such checks and evaluations are described in the aforementioned DE 10 20 23 201 837.

[0041] The retrofit kit according to the invention has a sensor device which is designed for installation on an (existing) guide unit. Thus, the retrofit kit can also be retrofitted to existing systems in a simple manner.

[0042] In particular, the conversion kit is a construction unit that can be mounted on the guide unit and / or the articulated arm robot. To this end, the construction unit has mounting elements for fastening. These mounting elements are, in particular, screws, clamps, etc. In a preferred embodiment, these mounting elements are those that allow tool-free fastening. In particular, these elements are magnets, so that the sensor device is fixed to the articulated arm robot and, in particular, to the guide unit, in particular, solely via the magnets.

[0043] In an embodiment with a sensor housing, the retrofit kit also comprises, in particular, the sensor housing in which components, in particular the transmitter and the second sensor component, are arranged.

[0044] The guide unit typically has a return mechanism designed to automatically, in particular spring-driven, return the fastening element and thus the protective hose to the starting position. The spring-driven return mechanism applies a preload force to the protective hose, in particular via the fastening element. The deflection of the dresspack from the starting position is caused by forced movements of the processing equipment, in particular an articulated arm robot, e.g., by force-controlled movements of a robot arm to which at least one cable is attached. The return mechanism is typically fixed to a support.

[0045] The fastening element further comprises a sliding element on which the restoring mechanism exerts a restoring force. The sliding element is in particular a sliding block which is guided along a guide, in particular a linear guide.

[0046] The return mechanism is typically arranged in the support housing of the guide unit. The support housing has at least one slot, preferably two opposing longitudinal slots. A sliding element located within the housing is connected to a fastening clamp for securing the protective hose via the at least one slot. The sliding element and the fastening clamp form the fastening element, or at least form part of the fastening element. Preferably, the fastening element generally includes such a fastening clamp for clamping the protective hose.

[0047] The fastening element has in particular a bracket which surrounds the bearing housing, in particular the bearing housing cover, and whose edge bracket arms extend via the two aforementioned lateral longitudinal grooves into the interior of the bearing housing and are connected there to the restoring mechanism, in particular the sliding element.

[0048] The movable sensor part is preferably firmly connected to the bow. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Exemplary embodiments of the present invention are explained in more detail below with reference to the accompanying drawings. These drawings show in simplified representations:

[0050] Figure 1 is a simplified side view of an industrial robot with a guidance device;

[0051] Figure 2 is a perspective view of a guide device without a dress pack, the guide device having a first sensor device and a reflective surface on the support housing;

[0052] Figure 3 is based on Figure 2 A top view of a guide device of FIG. 1 , but having another sensor device with a sensor housing;

[0053] Figure 4 It is along Figure 3 The section line IV-IV in FIG. 5 is a sectional view through the sensor housing. DETAILED DESCRIPTION

[0054] exist Figure 1In the figure, an articulated arm robot 2 is shown as a processing device, in particular as an embodiment of a multi-axis, in particular six-axis industrial robot. It generally has a base 4 and a first section, which is also called a swing arm 6, which is connected to the base 4 via a first joint connection R1. The swing arm 6 can be pivoted around this first joint connection R1 about a horizontal axis. In addition, the swing arm 6 can generally be pivoted about a vertical axis relative to the base 4. The swing arm 6 extends generally upward in the vertical direction. At a second joint connection R2, a second section, generally called a robot arm 8, is pivotally connected to the swing arm 6 about a so-called "axis 3". In addition, as a third section, a robot hand 10 is connected to the robot arm 8 via a third joint connection R3. A processing tool 12, such as a welding clamp, is mounted on the robot hand 10. Such an industrial robot generally has more than four or more than five, for example six different degrees of freedom of movement.

[0055] To supply power and / or fluids and / or data signals to the processing tool 12, the articulated-arm robot 2 includes a supply cable pack guided along the robot arm 2 and thereby connected, for example, to the base 4. The supply cable pack includes at least one cable 14, and preferably multiple cables 14, which are guided in a protective hose 16 at least in the area of ​​the robot arm 8. The cables 14 and protective hose 16 are collectively referred to below as a dress pack 18. Typically, a disconnection point for the supply cable pack is located in the area of ​​the second articulation R2, and the dress pack 18 is guided into this disconnection point as a replaceable wear unit. To guide the dress pack and, in particular, to perform a return movement, a guide device 20 is fastened to the robot arm 2 in the area of ​​the second articulation R2. This guide device 20 includes a fastening fixture 22, in which the dress pack 18 is held, in particular in a form-fitting manner, so that the return force exerted by the guide device 20 is transmitted to the dress pack 18.

[0056] The guide device 20 has a support 24, via which it is fastened to the articulated-arm robot 2, in particular in the region of the second joint R2. During the movement of the dress pack 18, the dress pack 18 and, consequently, the fastening fixture 22, perform a relative movement, in particular linear, relative to the support 24. A restoring mechanism 25 is mounted on the support, which exerts an elastic restoring force on the fastening fixture 22. To this end, the fastening fixture 22 is connected, in particular, to a sliding element (not shown in greater detail) that is attached to the support 24 in a linearly slidable manner.

[0057] In order to detect damage to the protective hose 16 at an early stage, the guide device 20 is now equipped with a sensor device 26, as described below with reference to Figures 2 to 4 Explained in more detail.

[0058] The illustrated guide device 20 first comprises a guide unit 28. The guide unit 28 comprises a support housing 30, which has a support 24 on its bottom side, to which a housing cover 32 is attached. A return mechanism (not shown in detail here) is formed in the free interior space. This return mechanism comprises an elastic return element, in particular a spring element, which exerts an elastic return force on a sliding element (not shown). The guide unit 28 comprises a fastening element 34 connected to the sliding element and capable of linear sliding along the support 24. In the exemplary embodiment, the fastening element 34 comprises a bracket 36 that surrounds the housing cover 32 and engages into the interior space via lateral longitudinal grooves, where it is connected to the sliding element. The aforementioned fastening clamp 22 is fastened to the bracket 36, into which the protective hose 16 is fastened in the installed state. In the illustrated example, the guide unit 28 has at its front end a sliding guide which is fixedly connected to the support 24 and by which the dress pack 18 is slidably guided.

[0059] During operation, the protective hose 16, along with the fastening fixture 22 and the entire fastening element 34, moves linearly back and forth along the guide unit 28 to achieve the compensating motion. The articulated arm robot 2 is typically programmed for cyclically repetitive workflows, such as performing multiple individual welding processes on a component within a single work cycle. The same work cycle is repeated for the next component. During this work cycle, the protective hose 16, and therefore the fastening element 34, executes a defined motion pattern. The motion pattern can be used to determine whether the guide device 20 and / or the articulated arm robot 20 is executing the correct motion process according to the target requirements.

[0060] With the help of Figures 2 to 4 The sensor device 26 shown in FIG. 1 measures the movement of the dress pack 18 , in particular the relative movement of the protective hose 16 relative to the support 24 , and evaluates the movement data recorded in this process.

[0061] For this purpose, the (linear) movement of the fastening element 34 , in particular of the bracket 36 , relative to the support 24 is recorded and evaluated.

[0062] Sensor device 26 has a first fixed sensor part formed by an ultrasonic transmitter 38A or having such a transmitter. Furthermore, sensor device 26 has a second movable sensor part, which in the exemplary embodiment is formed by a reflector 38B. Transmitter 38A is fixed to fastening element 34, which in turn is fixed to support 24. With the aid of sensor device 26, the relative movement of the movable sensor part relative to the fixed sensor part is measured.

[0063] During operation, the ultrasonic sensor signal S emitted by transmitter 38A is reflected by reflector 38B and returned in the direction of the first sensor component. This first sensor component is designed in particular as a combined transmitter and receiver unit and, in this case, specifically has an ultrasonic receiver. The received ultrasonic sensor signal S is suitably evaluated.

[0064] The current position of the movable sensor part 38B is estimated, for example, by evaluating the transit time of the sensor signal S. This is done in particular by means of Figure 3 The evaluation unit 48 shown by way of example in FIG is completed. The evaluation unit 48 is in particular installed in the area of ​​the transmitter 38A and, for example, forms a common electronic unit with the transmitter 38A. Alternatively, it is also possible that the received sensor signal S is also forwarded to a main evaluation unit.

[0065] The emitter 38A and the reflector 38B are arranged opposite each other in the length direction L. The connecting line between these components defines a linear signal path LS.

[0066] The transmitter 38A transmits the ultrasonic sensor signal S at a transmission angle α, which is, for example, 30°.

[0067] For space considerations, the reflector 38B is kept small and has a width of preferably at most 10 cm. 2 For example, the reflector 38B has a sensing surface F of 4 cm×2 cm. The dimensions of the sensing surface F are in particular identical to the dimensions of the reflector 38B, which is preferably designed as a metal plate or a plate made of polymer.

[0068] Figure 2 : The fastening element 34 and the fastening clamp 22 together with it are shown in the state of maximum extension. Accordingly, in this state, the emitter 38A and the reflector 38B have a maximum distance A from each other, which is preferably at most 40 cm.

[0069] The reflector 38B is preferably arranged generally directly at the level of the fastening element 34. The emitter 38A is mounted on the support 24 at opposite end regions.

[0070] Due to the large emission angle α and the small reflecting surface F, there is a risk that a portion of the sensor signal S is not reflected or does not reach the receiver, making evaluation difficult.

[0071] In order to improve the reliability of the measurement, a reflective surface 52 is provided, which is arranged on the side of the signal path LS. At least a part of the sensor signal S is reflected again by the reflective surface 52 and can thus hit the reflector 38B and be reflected back.

[0072] exist Figure 2 In the exemplary embodiment, the reflective surface 52 is formed by a partial area of ​​the outer wall of the support housing 30, specifically by the housing cover 32, as indicated by the gray area. Preferably, the reflective surface 52 is arranged on the top side of the housing cover 32 and is therefore located below the dress pack 18. The reflective surface 52 is, in particular, a special surface coating or surface material suitable for reflecting ultrasonic signals. The reflective surface 52 is preferably different from other outer surface areas of the support housing 30. The reflector 38B is, for example, mounted directly to the bracket 36 or the fastening clamp 22. The transmitter 38A is, for example, fixed to the housing cover 32. The reflector 38B and / or the transmitter 38A are fixed, for example, by form-fitting, force-fitting, or preferably, by material connection, such as by gluing or welding.

[0073] according to Figure 3 The sensor device 26 comprises a sensor housing 40, which is arranged next to the guide unit 28 and, in particular, is fixed to the guide unit 28. Inside the sensor housing 40, an emitter 38A and a reflector 38B are arranged. The sensor housing 40 and, in particular, the entire sensor device 26 are fixed to the guide unit 28 via a mounting element 42. In alternative embodiments, fixing to a component of the articulated arm robot 2, for example, to the robot arm 8, is also possible.

[0074] The movable sensor component 38, which is arranged in the sensor housing 40, is connected to the fastening element 34 and, in particular, to the bracket 36 via a connecting element 43 that protrudes from the sensor housing 40. The connecting element 43 thus performs a relative movement with respect to the sensor housing 40 during operation. To this end, it preferably has a longitudinal slot in its side wall extending in the longitudinal direction L, along which the connecting element 43 can be moved.

[0075] Especially from Figure 4 As can be seen in FIG, the sensor housing 40 has an inner side that forms a reflective surface 52. This inner side can be, for example, a special surface treatment or surface coating. In this embodiment, the reflective surface 52 is formed directly by the side wall of the sensor housing 40. It is in particular a metal housing, in particular made of aluminum.

[0076] The side wall having the reflective surface 52 is preferably distinct from other interior surface areas of the sensor housing 40 .

[0077] It should be emphasized that if Figure 4 As shown, the sensor housing 40 is open on the side opposite the reflective surface 52, i.e., has an opening 54 extending in the longitudinal direction L, which in particular extends over the entire maximum distance A. The opening 54 has an opening width b1, which is preferably at least 10%, optionally at least 20%, and preferably at least 50% of the width b2 of the sensor housing 40.

[0078] Preferably, the opening width b1 is at least greater than 15 mm or at least greater than 25 mm.

[0079] Additionally or alternatively, it is also possible that inner surface areas adjacent to and / or opposite the reflective surface 52 have an absorbent surface 56. This is preferably achieved by using a suitable coating or a suitable material, such as felt, so that the corresponding partial area is almost covered with ultrasound absorbent material.

[0080] In an embodiment, the sensor housing 40 has a rectangular cross-sectional profile. Preferably, the reflective surface 52 is a longitudinal side of the rectangular sensor housing 40 and / or the reflector 38B is also designed to be rectangular and its longitudinal side is arranged opposite the reflective surface 52, which has a positive effect on signal reflection.

[0081] exist Figure 4 , the mounting element 42, the fastening element 34 or the bracket 36 and the connecting element 43 are shown by dashed lines and in partial form. It can also be clearly seen here that the connecting element 43 extends through the above-mentioned opening 54 and is guided to the reflector 38B and holds the reflector 38B.

[0082] It should be emphasized that an opening gap 58 is formed between the connecting element 43 and the opening 54, more precisely, between the opening and the edge of the opening. Generally, the opening width b1 is preferably a multiple of the thickness of the connecting element 43, so that a sufficiently large opening gap 58 is formed to achieve the desired effect on signal propagation. The opening gap 58, i.e., the difference between the thickness of the connecting element 43 and the opening width b1, is preferably greater than 15 mm, preferably greater than 20 mm, or even greater than 30 mm. The housing width b2 is preferably in the range of 4 cm to 8 cm.

[0083] To ensure good reflection on the reflective surface 52, the distance a between the reflector 38B and the reflective surface 52 is selected to be as small as possible. Preferably, the distance a is only in the range of a few millimeters and is particularly less than 8 mm, preferably less than 5 mm, and in particular less than 3 mm. The minimum distance corresponds to the permissible gap between the reflector and the inner wall to ensure mobility. Preferably, the distance a corresponds to this minimum permissible gap.

[0084] The sensor device 26 is also designed, in particular, for retrofitting existing guide units 28. For this purpose, a retrofit kit 50 is generally provided that can be retrofitted onto existing guide units 28. The retrofit kit 50 comprises, in particular, two sensor components 38A, 38B, preferably an evaluation unit 48, and / or at least one communication unit for transmitting data signals to a remote evaluation unit. Furthermore, the mounting element 42 preferably forms part of the retrofit kit 50. In embodiments with a sensor housing 40, the sensor housing is part of the retrofit kit. The retrofit kit 50 preferably comprises a common mounting unit formed by these components, or the retrofit kit is such a mounting unit. It comprises, in particular, the sensor housing 40 and the mounting element 42, with the sensor components 38A, 38B already preassembled within the sensor housing 40. In one embodiment, the evaluation unit 48 is also part of this mounting unit. In this case, it simply needs to be reinstalled on the guide unit 28.

[0085] Reference Signs List

[0086] 2-jointed arm robot

[0087] 4 base

[0088] 6 Swing arm

[0089] 8 Robotic Arm

[0090] 10. Robotic Hand

[0091] 12 Processing Tools

[0092] 14 cables

[0093] 16 Protective hose

[0094] 18 Dressing

[0095] 20 Guidance Device

[0096] 22 Fastening fixture

[0097] 24 supports

[0098] 25 reset mechanism

[0099] 26 Sensors

[0100] 28 guide units

[0101] 30 support housing

[0102] 32 Housing cover

[0103] 34 Fastening elements

[0104] 36 Bow Stand

[0105] 38A Transmitter

[0106] 38B reflector

[0107] 40 sensor housing

[0108] 42 Mounting components

[0109] 43 Connecting elements

[0110] 48 evaluation units

[0111] 50 Conversion Kit

[0112] 52 reflective surface

[0113] 54 Opening

[0114] 56 Absorption Surface

[0115] 58 Opening Gap

[0116] L Vertical

[0117] LS linear signal path

[0118] α emission angle

[0119] F Sensing surface

[0120] b1 opening width

[0121] b2 Sensor housing width

[0122] R1 first joint connection

[0123] R2 Second joint connection

[0124] R3 third joint connection

[0125] S sensor signal

[0126] A Distance

[0127] a Distance between the reflecting surface and the reflector

Claims

1. A guide device (20) for guiding at least one cable (14) located in a protective hose (16), in particular of an articulated arm robot (2), the guide device (20) having a guide unit (28), wherein: The guide unit (28) comprises a fixed support (24) and a fastening element (34) for fastening the protective hose (16), wherein the fastening element (34) is movable along the support (24) in the longitudinal direction (L) to achieve a compensating movement of the protective hose (16) and at least one cable (14) guided therein, wherein the guide device (20) comprises a sensor device (26) for measuring the movement of the fastening element (34) relative to the support (24), and the sensor device (26) comprises a sensor device (26) designed to measure the movement of the fastening element (34) relative to the support (24). 6), and the sensor device (26) has a transmitter (38A) as a first sensor component for transmitting a sensor signal (S) and designed as an ultrasonic transmitter, and a second sensor component (38B) opposite in the longitudinal direction (L), and a signal path (LS) extending in the longitudinal direction between the two sensor components (38A, 38B), characterized in that a reflection surface (52) for the sensor signal (S) is arranged laterally next to the signal path (LS), so that during operation, at least a part of the sensor signal (S) on the way from the transmitter (38A) to the second sensor component (38B) is reflected on the reflection surface (52).

2. The guide device (20) according to the preceding claim, characterized in that The transmitter (38A) is connected to the fixed support (24), and the second sensor component is designed as a reflector (38B) for the sensor signal (S) and is connected to the fastening element (34).

3. The guide device (20) according to one of the preceding claims, characterized in that A non-reflective area is formed opposite to the reflective surface (52), so that the sensor signal portion reflected on the reflective surface (52) is not reflected multiple times.

4. The guide device (20) according to one of the preceding claims, characterized in that The sensor device (20) is integrated in a sensor housing (40), which is arranged next to the carrier (24) and has an inner side forming the reflection surface (52).

5. The guide device (20) according to the preceding claim, characterized in that The sensor housing has at least one opening (54) on a side opposite to the reflective surface (52) or is completely open.

6. The guide device (20) according to the preceding claim, characterized in that The opening width (b1) of the opening (54) is: - is at least 10%, and in particular at least 20%, of the width (b2) of the sensor housing (40), and / or, - is at least 15 mm or at least 25 mm.

7. The guide device (20) according to any one of the two preceding claims, wherein The second sensor component (38B) is connected to the fastening element (34) via a connecting element (43), and the connecting element (43) passes through the opening (54), wherein the opening width (b1) is selected to be greater than the thickness of the connecting element (43) so as to form a free open gap (58) between the opening (54) and the connecting element, wherein the opening width (b1) preferably corresponds to a multiple of the thickness of the connecting element (43) and / or the opening gap (58) is preferably greater than 15 mm.

8. The guiding device (20) according to any one of claims 4 to 7, wherein The distance (a) from the second sensor component (38B) to the reflecting surface (52) is less than 8 mm, in particular less than 5 mm and preferably less than 3 mm.

9. The guide device (20) according to any one of claims 4 to 8, characterized in that The sensor housing (40) has a surface (56) that absorbs the sensor signal (S) at least on a side opposite to the reflection surface (52).

10. The guiding device (20) according to any one of claims 1 to 3, characterized in that The support (24) has a support housing (30) or is connected to the support housing (30), and the sensor device (26) is arranged next to the support housing (30), wherein the outer wall of the support housing (30) has the reflective surface (52).

11. The guide device (20) according to one of the preceding claims, characterized in that The transmitter (38A) has an emission angle (α) for the sensor signal (S), which is greater than or equal to 20° or greater than or equal to 30°, preferably a maximum of 50°, and in particular lies in the range between 25° and 35°.

12. The guide device (20) according to one of the preceding claims, wherein The distance between the transmitter (38A) and the second sensor component (38B) is at most 45 cm, preferably at most 40 cm, more preferably at most 35 cm.

13. The guide device (20) according to one of the preceding claims, characterized in that The second sensor component (38B) has a width less than 25 cm 2 , especially less than 15cm 2 or less than 10cm 2 The sensing surface (F).

14. The guide device (20) according to the preceding claim, characterized in that The guiding device (20) has an evaluation unit (48) for evaluating movement data (M) captured during the measurement regarding at least one of the following: a. Damage to the protective hose (16), b. disturbance of the movement of the guiding unit (28), c. Changes in the movement pattern of the guiding unit (28).

15. A conversion kit (50) for forming a guide device (20) according to one of the preceding claims, wherein The conversion kit has a sensor device (26) which can be mounted on a guide unit (28) and is designed to measure the movement of a protective hose (16) of the guide unit (28).

16. A method for monitoring the movement of a protective hose (16) of a guiding device (20), the guiding device (20) being used to guide at least one cable (14) located in the protective hose (16), wherein the guiding device (20) has a guiding unit (28), the guiding unit (28) having a fastening element (34) for fastening the protective hose (16) and a fixing support (24), wherein the fastening element (34) moves along the support (24) in the longitudinal direction (L) to achieve the protective hose (16) and the cable guided therein. The invention relates to a compensating movement of at least one cable (14), wherein the guide device (20) has a sensor device (26) for measuring the movement of the fastening element (34) relative to the support (24), the sensor device (26) having a transmitter (38A) as a first sensor part and designed as an ultrasonic transmitter for emitting a sensor signal (S) and a second sensor part (38B) opposite in the longitudinal direction (L), and a signal path (LS) extending in the longitudinal direction (L) between the two sensor parts (38A, 38B), characterized in that A reflecting surface (52) for the sensor signal (S) is positioned beside the signal path (LS) so that at least a portion of the sensor signal (S) is reflected on the reflecting surface (52) on the way from the transmitter (38A) to the second sensor component (38B).

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