Method and device for determining maintenance needs on a robot hose

Abstract

The invention relates to a method and a device for predictively determining the need for maintenance on an energy and / or fluid-carrying hose (2) of an assembly and / or manufacturing robot (1), wherein, when the hose (2) is fully extended from a hose reserve box (3) to a stop, a signal transmitter (4) is attached to the outside of the hose (2) in a region adjoining the hose reserve box (3), which, in the event of overextension of the hose (2), enters a detection area of ​​a sensor (5) fixedly mounted opposite the hose reserve box (3) and thereby triggers a signal in the sensor (5), which the sensor sends to a signal processing unit, the processing result of which is displayed in a display unit.whereupon an exceedance of a predefined number of these signals is detected, in the next maintenance phase of the assembly and / or manufacturing robot (1) or promptly, measures to maintain the function of the hose (2) must be carried out.

Description

[0001] The invention relates to a method for predictively determining a maintenance requirement for an energy- and / or fluid-carrying hose of an assembly and / or production robot according to the preamble of claim 1. The invention further relates to a device for predictively determining a maintenance requirement for an energy- and / or fluid-carrying hose of an assembly and / or production robot according to the preamble of claim 5.

[0002] Robots often have hose assemblies, for example, for supplying energy and / or fluids. These hose assemblies can be prone to high levels of failure, for example, due to high tensile forces, damage, and tears in corrugated hoses, control cables, and other hoses. Such damage is caused by suboptimal robot movements or high loads caused by over-tensioning the hose assemblies. Therefore, the hose assemblies should be monitored. This usually involves shutting down the robot and / or the entire system.

[0003] DE 10 2006 056 235 A1 describes a cable protection device with a cable protection hose having at least one flexible outer sheath. In order to provide a cable protection device that reliably prevents damage to cables routed in the cable protection hose and / or to the machine comprising the cable protection device caused by fraying of the outer sheath, the cable protection device is equipped with at least one detection means for enabling automatic detection of damage to the outer sheath.

[0004] The invention is based on the object of providing a novel method and a novel device for prognostically determining a maintenance requirement on an energy and / or fluid-carrying hose of an assembly and / or production robot.

[0005] The object is achieved according to the invention by a method for prognostically determining a maintenance requirement on an energy and / or fluid-carrying hose of an assembly and / or production robot having the features of claim 1 and by a device for prognostically determining a maintenance requirement on an energy and / or fluid-carrying hose of an assembly and / or production robot having the features of claim 5.

[0006] Advantageous embodiments of the invention are the subject of the subclaims.

[0007] A method and a device for the prognostic determination of damage to an energy and / or fluid-carrying hose (for example for energy supply and / or for general and / or different applications on a robot system) of an assembly and / or manufacturing robot is proposed.According to the invention, when the hose is fully extended from a hose reserve box to a stop, a signal transmitter is attached to the outside of the hose in a section of the hose adjacent to the hose reserve box. If a maximum permissible extension length of the hose is exceeded, this signal transmitter enters a detection range of a sensor permanently mounted opposite the hose reserve box and triggers a signal in the sensor, which sends it to a signal processing unit. The processing result is displayed on a display unit. If a predefined number of these signals is detected, function-preserving measures with regard to the hose must be carried out in a subsequent maintenance phase of the assembly and / or production robot or promptly. The mounting position of the sensor is freely selectable or can be optimally selected. This is not manufacturer-relevant.

[0008] The inventive solution allows the detection of an abnormal hose or hose assembly and the location of a fault, even while the robot is in operation. This enables predictive maintenance. On-site observation is no longer necessary. The quality of robot programming with regard to the load on the hose or hose assembly can also be monitored and / or recorded, for example, when system engineers are programming new systems or when integrating new robot movements.

[0009] The inventive solution allows monitoring the maximum extension length of a power supply hose and / or a robot's hose assembly to detect impending damage and take preventative measures (e.g., optimizing a robot program, correcting wear on the hose assembly). Furthermore, it enables the cause to be determined and the location of the event to be recorded (where exactly the robot is located in the program and at which precise position).

[0010] Embodiments of the invention are explained in more detail below with reference to a drawing.

[0011] It shows: Fig. 1 a schematic detailed view of a robot with a hose for supplying energy and / or control lines and / or a fluid.

[0012] Fig.1 is a schematic detailed view of a robot 1, in particular an assembly and / or manufacturing robot 1, with a hose 2 for supplying energy and / or control lines and / or a fluid, for example for energy supply and / or for general and / or different applications on a robot system.

[0013] The hose 2 can be at least partially retracted into a hose reserve box 3, which can have different geometries and / or shapes (e.g., box or pipe). When the hose 2 is fully extended from the hose reserve box 3 to a stop, a signal transmitter 4 is attached to the outside of the hose 2 in a region of the hose 2 adjoining the hose reserve box 3. In the event of overstretching and / or exceeding a maximum permissible extension length of the hose 2, the signal transmitter 4 reaches a detection range of a sensor 5 fixedly mounted opposite the hose reserve box 3. The sensor 5 is configured to generate a signal in this case and to send it to a signal processing unit (e.g., a robot controller and / or PLC), wherein the signal processing unit is configured to display its processing result on a display unit (e.g.,a dashboard) and, if a predefined number of these signals is detected to be exceeded, to propose function-preserving measures with regard to the hose 2 in a subsequent maintenance phase of the assembly and / or production robot 1 or in a timely manner.

[0014] The signal processing unit can, for example, be program-connected to a controller of the assembly and / or production robot 1.

[0015] For example, sensor 5 can be designed as an inductive sensor. Depending on the application, sensor 5 can be shielded against external magnetic fields.

[0016] In one embodiment, the signal generator 4 is designed as a metal ring or a metal spiral that can encircle the hose 2. The hose 2 can, for example, comprise a corrugated pipe.

[0017] The sensor 5 can be arranged on an underside of the hose reserve box 3, for example by means of an elastic clamp 6 surrounding the hose 2, for example a trumpet clamp, and a holder 7 detachably fastened to the clamp 6.

[0018] The mounting position and / or shape of the holder 7 is freely selectable or can be optimally selected. This is not manufacturer- and / or hose package-relevant.

[0019] As a function-preserving measure, it may be provided, for example, that the hose 2 is replaced with a new one or one in like-new condition.

[0020] Furthermore, it can be provided that a number of the transmitted signals are continuously summed up and visualized on the display unit (e.g. dashboard) for optical monitoring.

[0021] Furthermore, it can be provided that, in comparison with a control system of the assembly and / or production robot 1, it is determined at which movement and / or position of the assembly and / or production robot 1 the signal is sent. List of reference symbols 1 robot, assembly and / or manufacturing robot 2 hoses 3 hose reserve box 4 signal generators 5 Sensor 6 clamp 7 holders QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2006 056 235 A1

[0003]

Claims

[1] Method for the prognostic determination of a maintenance requirement on an energy and / or fluid-carrying hose (2) of an assembly and / or production robot (1), characterized bythat when the hose (2) is fully pulled out of a hose reserve box (3) up to a stop, a signal transmitter (4) is attached to the outside of the hose in a region of the hose (2) adjoining the hose reserve box (3), which, in the event of a maximum permissible extension length of the hose (2) being exceeded, reaches a detection range of a sensor (5) fixedly mounted opposite the hose reserve box (3) and in the process triggers a signal in the sensor (5), which sends the sensor to a signal processing unit, the processing result of which is displayed in a display unit, after which, upon detection of an exceedance of a predefined number of these signals, function-preserving measures with regard to the hose (2) are to be carried out in a subsequent maintenance phase of the assembly and / or production robot (1) or promptly. [2] Method according to claim 1, characterized bythat, as a function-preserving measure, the hose (2) is replaced with a new one or one in mint condition. [3] Method according to claim 1 or 2, characterized by that a number of the transmitted signals are continuously summed up and visualized on the display unit for optical monitoring. [4] Method according to one of the preceding claims, characterized by that in comparison with a control of the assembly and / or production robot (1) it is determined at which movement and / or position of the assembly and / or production robot (1) the signal is sent. [5] Device for the prognostic determination of a maintenance requirement on an energy and / or fluid-carrying hose (2) of an assembly and / or production robot (1), wherein the hose (2) is at least partially retractable into a hose reserve box (3), characterized bythat when the hose (2) is fully pulled out of the hose reserve box (3) up to a stop, a signal transmitter (4) is attached to the outside of the hose in a region of the hose (2) adjoining the hose reserve box (3), which signal transmitter (4) reaches a detection range of a sensor (5) fixedly mounted opposite the hose reserve box (3) if a maximum permissible extension length of the hose (2) is exceeded, wherein the sensor (5) is configured to generate a signal in this case and send it to a signal processing unit, wherein the signal processing unit is configured to display its processing result in a display unit and, upon detection of an exceedance of a predefined number of these signals, to propose function-preserving measures with regard to the hose (2) in a subsequent maintenance phase of the assembly and / or production robot (1) or in a timely manner. [6] Device according to claim 5, characterized by that the signal processing unit is program-technically connected to a controller of the assembly and / or production robot (1). [7] Device according to claim 5 or 6, characterized by that the sensor (5) is designed as an inductive sensor. [8] Device according to one of claims 5 to 7, characterized by that the sensor (5) is shielded against external magnetic fields. [9] Device according to one of claims 5 to 8, characterized by that the signal generator (4) is designed as a metal ring or as a metal spiral. [10] Device according to one of claims 5 to 9, characterized by that the sensor (5) is arranged on an underside of the hose reserve box (3) by means of an elastic clamp (6) surrounding the hose (2) and a holder (7) detachably fastened thereto.

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