Mountable sensor covers for robots

Abstract

The invention relates to a robot sensor assembly (1) having a sensor receptacle (10); an electrical contact (20) which is connected to the sensor receptacle (10) and is designed to make electrical contact with a sensor (2) located in the sensor receptacle; a sensor cover (30) with a projection (31) which is designed to cover the sensor receptacle (10), wherein the projection (31) of the sensor cover (30) projects beyond the sensor receptacle (10) on at least one side on which the electrical contact (20) is provided; and a spiral cable (40) which makes contact with the electrical contact (20). The invention also relates to a robot arm segment and to a robot unit having an aforementioned robot sensor assembly.

Description

ROUNDPEG TECHNOLOGIES GMBH September 3, 2025 Our ref.: R11134WO / TOP MOUNTABLE SENSOR COVER FOR ROBOTS AREA OF INVENTION

[0001] The invention relates to a robot sensor arrangement, a robot arm segment and a robot unit, as well as a method for assembling a robot sensor arrangement. BACKGROUND OF THE INVENTION

[0002] Today, robots use sensors integrated directly into their environment to perceive their surroundings. This allows the robot to detect and avoid obstacles and prevent collisions with people.

[0003] Some state-of-the-art systems involve integrating the sensors into the robot's lid. Other state-of-the-art concepts mount sensors externally. • https: / / www.airskin.io • https: / / www.bosch.com / de / stories / industrie-4-0-flexible-production-line / • Internal routing of cables (PCT_EP2023_082259)

[0004] The first item in the list only involves touch detection. Therefore, it is not immediately necessary to route the cables closely against the robot. The second item involves installing the connecting cables through large sensor elements with integrated connector systems. The third item involves unscrewing a cover that is part of the robot housing and routing the cable inside.

[0005] These sensors must be installed, and their power and signal supply, especially wired systems, must be safe for operation and use.

[0006] When cables are routed externally, they must make large bends to accommodate the changing paths required when the robot's position changes. These bends can become entangled with surrounding components or people. In the worst-case scenario, this can cause structures to fall over and injure people. Furthermore, this situation precludes the use of environmental sensing systems, as the cables would interfere with the sensors.

[0007] Routing cables within externally mounted sensor elements is very complex. Either rotating connector designs must be used, or the cable sag must be specifically managed. Both solutions make it difficult to quickly mount the modules onto the robot.

[0008] Another solution is to route the cables inside the robot. However, this is very complex, as the robot then has to be completely disassembled.

[0009] In everyday production, robots are often already installed in a system or need to be quickly reconfigured. In these situations, it is highly advantageous if the sensor modules can be retrofitted directly onto the robot by the user. Existing concepts are not suitable for this. TOP:ior

[0010] The object of the invention can be seen as solving the aforementioned problems and enabling cable routing on the robot that still provides sufficient cable length to avoid restricting the robot's freedom of movement. A further object of the invention can be seen as enabling the flexible attachment of sensor modules to the robot to ensure interchangeability and allow the user to decide which areas of the robot to equip with sensors. SUMMARY OF THE INVENTION

[0011] The invention relates to a robot sensor arrangement, a robot arm segment and a robot unit according to the subject matter of the independent claims, wherein further embodiments are embodied by the dependent claims and the described embodiments.

[0012] According to one embodiment, a robot sensor arrangement is provided comprising: a sensor receptacle; an electrical contact connected to the sensor receptacle and configured to establish electrical contact with a sensor connected to the sensor receptacle; a sensor cover configured to cover the sensor receptacle, wherein the sensor cover has an overhang and extends beyond the sensor receptacle on at least one side with the overhang where the electrical contact is provided and / or wherein the sensor receptacle has an overhang on at least the side where the electrical contact is provided; and a length-elastic cable, in particular a coiled cable, which contacts the electrical contact.

[0013] The robot sensor arrangement according to the invention can also be referred to as a sensor arrangement for a robot. Both terms are used synonymously below. The robot in question, i.e., the robot on which the robot sensor arrangement can be used, is preferably an industrial robot. In this context, the robot can be designed as an articulated robot arm.

[0014] In the sensor arrangement according to the invention, the sensor receptacle can be designed to attach a sensor and / or a sensor cover in the area of ​​a robot joint. The sensor receptacle thus represents a type of adapter or fastening element by means of which the sensor and / or the sensor cover can be attached in the area of ​​a robot joint. Accordingly, the sensor mount can have a first mechanical interface by means of which it can be attached to a robot in the area of ​​the robot joint. Furthermore, the sensor mount can have a second mechanical interface by means of which the sensor and / or the sensor cover can be attached to the sensor mount. Both interfaces can, for example, be designed to form a screw connection. This means that both interfaces can have one or more components consisting of a threaded bore, a threaded stud, and a through-hole for receiving a screw.

[0015] In connection with the robot sensor arrangement according to the invention, a sensor can be attached to the sensor cover. Alternatively, the sensor cover can conceal or cover the sensor. In the second case, the sensor is attached elsewhere, e.g., to the sensor mount. In both cases, the sensor is coupled to the electrical contact.

[0016] It should be understood that the sensor receptacle can be located either on the sensor cover or on a robot arm segment body, specifically in or on a receptacle that is closed by the cover. The contact can also be located on the cover or on a robot arm segment, depending on the sensor's location. If the sensor is located on the robot arm segment, a contact on the cover is not strictly necessary. The contact can serve to conduct a supply voltage and / or a sensor signal.

[0017] In this way, sensors or sensor modules can be attached to the robot flexibly and / or modularly, e.g. screwed on, and different sensors or sensor modules with different functions can be exchanged and adapted to the specific function.

[0018] The overhang, which can be provided on the sensor cover and / or the sensor mount, prevents the electrical contact, such as a connector, and the connecting cables from being detected by an environmental sensor and from being confused by sagging cables and wires. This is further achieved because the cable's elasticity allows it to lie snugly against the robot's exterior. Due to this elasticity, the cable remains in contact with the robot, particularly its robot segment body, even when its length changes, and does not sag.In conjunction with a projection extending laterally over contacts and connectors, as well as the elastic cable, particularly a coiled cable, it is further ensured that the contact, which is primarily a connector, and the elastic cables connected to it remain hidden beneath the projection when viewed along the robot segment body and are not detected by environmental or collision detection systems. This is achieved primarily through the use of coiled cables, which allow for internal pre-tensioning and thus maintain a close fit to the robot arm segment even with varying distances.

[0019] In the context of the present invention, a projection is understood to be, in particular, a protrusion provided on the sensor cover and / or the sensor receptacle. This protrusion extends along a projection direction from a base body or base geometry of the sensor cover and / or the sensor receptacle. The projection direction is understood to be the direction along which the protrusion extends from the base body or base geometry. In this context, projections or protrusions are conceivable that extend only along a single projection direction, e.g., along a radial direction of a disk-shaped base body or disk-shaped base geometry. Likewise, projections or protrusions are conceivable that extend in multiple directions from the base body or base geometry.In an example where the base body or geometry is circular, the projection can extend in several radial directions. This implies that the projection encircles the base body or geometry, at least partially. Such a projection or extension can also be described as a collar or protruding edge. Furthermore, it is conceivable that the collar or protruding edge extends completely around one circumference of the base body or geometry. By means of such a projection or... Concealment of such a projection is achieved when viewing from a direction perpendicular to the projection's direction, particularly perpendicular to it. From this viewing angle, the projection extends beyond, i.e., conceals, the electrical contact. In other words, the electrical contact is not visible because it is obscured by the projection. This also applies, at least to a section of a length-elastic cable attached to the electrical contact. The present invention specifically utilizes this overhang or concealment by means of the projection. In this way, it is possible to ensure that the environmental perception or collision sensor of the robot on which the robot sensor arrangement is used is not disrupted, because the electrical contact and / or the length-elastic cable are not perceived as part of the environment.can be recognized as a potential collision object.

[0020] In connection with the present invention, a viewing direction with respect to which overshoot or occlusion is achieved runs, in particular parallel to an extension direction and / or a central axis of an element of the robot on which the robot sensor arrangement is used. The robot element can be a robot arm, a robot arm segment, an end effector, or an end effector segment.

[0021] Preferably, in connection with the present invention, the elastic cable runs along an outer surface of the robot or is designed to be routed along an outer surface of the robot. In such a configuration, the effects and advantages described above become particularly evident.

[0022] Furthermore, in the context of the present invention, the term "length-elastic" means that the length-elastic cable can change its shape under the influence of force, i.e., that the length-elastic cable can be elastically stretched, and returns to its original shape when the acting force is removed, i.e., it shortens again. The length of the cable is measured from one end of the cable to the other. A particular embodiment of a length-elastic cable is a coiled cable.

[0023] In this context, a coiled cable is understood as a cable that, in a relaxed state (i.e., when it is not subjected to any force), has a coiled shape. An alternative term for coiled shape is helical. A coiled cable therefore has several turns arranged around an axis of extension, i.e., an axis connecting the two cable ends. In particular, the coiled cable has at least three turns, preferably at least five. A coiled cable is thus manufactured already in a coiled shape. Consequently, the coiled cable can only be reshaped, e.g., lengthened, by applying a force. When the force is removed, the coiled cable returns to its coiled shape. This distinguishes a coiled cable from a standard cable, i.e., a non-coiled cable.The latter can, under certain circumstances, be placed or wound into a spiral shape, but it shows no tendency to return to this spiral shape should this shape be abandoned.

[0024] According to one embodiment, a projecting length of the overhang corresponds to at least one outer diameter of the elastic cable and / or at least one outer diameter of the electrical contact. This means that the projecting length of the The overhang is equal to or greater than the outer diameter of the elastic cable and / or the outer diameter of the electrical contact. Consequently, the overhang can reliably prevent the electrical contact and / or the elastic cable from interfering with the robot's environmental perception, i.e., from being detected in an undesirable manner. This is especially true when viewed from a perpendicular angle to the projecting length of the overhang. In this case, the electrical contact and / or the elastic cable are completely concealed behind or covered by the overhang due to its dimensions.

[0025] In one embodiment, the sensor cover or an assembly consisting of the sensor cover and sensor receptacle is essentially cylindrical, particularly circular cylindrical. In this case, preferably at least one sensor is arranged on a lateral surface of the cylindrical, particularly circular cylindrical, sensor cover or the cylindrical, particularly circular cylindrical, assembly. Such a sensor can have an opening angle, i.e., a detection angle, of up to 180°. In other words, the sensor's detection area can be a half-space. An opening angle of 180° represents an extreme case. Of course, smaller opening angles are also conceivable. Due to the overhang, it is prevented that the sensor unintentionally detects the elastic cable and / or the electrical contact.

[0026] According to one embodiment, the sensor receptacle is designed to accommodate a sensor and / or a sensor cover in a detachable and replaceable manner.

[0027] This allows sensors or sensor modules to be replaced while retaining the contact and connection points. The same applies to sensor covers, which can enclose one or more sensors.

[0028] According to one embodiment, the sensor receptacle is designed to permanently accommodate a sensor and / or a sensor cover.

[0029] This allows for the provision of fixed modules that prevent changes to the sensor position. The same applies to sensor covers, which can accommodate one or more sensors.

[0030] According to one embodiment, the sensor receptacle is formed integrally with a sensor and / or a sensor cover.

[0031] This allows for a compact design. In a case where the sensor mount and sensor cover are formed as a single piece, the sensor mount and sensor cover are integrally manufactured, i.e., by a single part or assembly.

[0032] According to one embodiment, the electrical contact has a plug connection with which the elastic cable, in particular the spiral cable, can be coupled to the sensor mount.

[0033] In this way, the elastic cable, especially the spiral cable, can be replaced, particularly if it is damaged.

[0034] According to one embodiment, the plug connection is completely covered by the sensor cover and / or the sensor receptacle.

[0035] In this way, the entire connector, including plugs and sockets, can be covered, as well as any elastic cables attached to it, especially spiral cables.

[0036] According to one embodiment, the sensor cover is enlarged in outer diameter such that it projects laterally beyond the electrical contact, particularly the connector, in such a way that the adjacent elastic cable, especially a coiled cable, is not detectable by a predefined environmental detection system. The projecting length generated by the increased outer diameter preferably corresponds to at least one outer diameter of the elastic cable and / or at least one outer diameter of the electrical contact. In other words, the radial length of the radial projection generated by the increased outer diameter preferably corresponds to at least one outer diameter of the elastic cable and / or at least one outer diameter of the electrical contact.

[0037] In this way, a flexible, especially length-flexible, cable connection can be hidden from environmental or collision detection.

[0038] According to one embodiment, the elastic cable, in particular the spiral cable, is dimensioned such that an internal preload of the elastic cable, in particular the spiral cable, prevents sagging or the formation of bulges of the elastic cable, in particular the spiral cable, when the distance varies.

[0039] This prevents the cable from emerging from the observation shadow of the tower when its length changes.

[0040] According to one embodiment, the spiral cable has a round, circular, or oval spiral cross-section.

[0041] In this way, a length-elastic or length-flexible cable connection can be provided.

[0042] According to one embodiment, the spiral cable has a kidney-shaped spiral cross-section, wherein a concave area of ​​the kidney shape is designed in such a way that it can be attached to and guided against a robot arm segment body.

[0043] In this way, the spiral cable can be guided along the robot arm segment and it can be prevented from stepping out of the overhang shadow.

[0044] According to one embodiment, the robot sensor arrangement further comprises: a. a further sensor receptacle; b. a further electrical contact connected to the further sensor receptacle and configured to establish an electrical contact with a sensor connected to the sensor receptacle; c. a further sensor cover configured to cover the further sensor receptacle, wherein the further sensor cover has an overhang and extends beyond the further sensor receptacle on at least one side with the overhang where the further electrical contact is provided, and / or wherein the further sensor receptacle has an overhang on at least that side where the further electrical contact is provided. d. a length-elastic cable, in particular a spiral cable, which connects the electrical contact and the further electrical contact.

[0045] In other words, the robot sensor arrangement comprises two sensor mounts, two sensor covers, and two electrical contacts, with both electrical contacts being overlaid by a projection and connected by a flexible cable. Such a robot sensor arrangement can be used on a robot, with each of the sensor mounts and sensor covers being located at or near a joint of the robot. The connection via the flexible cable thus runs from one joint to another. Preferably, the flexible cable is routed along the outside of the robot. It is also conceivable to provide robot sensor arrangements with more than two sensor mounts, more than two sensor covers, and more than two electrical contacts.These can then be connected in a chain-like fashion using elastic cables. In an example with three sensor mounts, three sensor covers, and three electrical contacts, the first and second electrical contacts are connected by a first elastic cable. Furthermore, the second electrical contact, or another electrical contact provided on the second sensor mount, is connected via a second elastic cable.

[0046] According to one embodiment, a robot arm segment is provided with a robot arm segment body and a robot sensor arrangement according to the invention, wherein the elastic cable, in particular the coiled cable, is guided along the robot arm segment body. The elastic cable runs, in particular, parallel to an extension direction of the robot arm segment body and / or parallel to a central axis of the robot arm segment body. The effects and advantages already described in connection with the robot sensor arrangement according to the invention result.

[0047] According to one embodiment, the elastic cable, in particular the coiled cable, is dimensioned such that an internal preload of the elastic cable, in particular the coiled cable, prevents sagging or the formation of bulges at varying distances, thus ensuring that the elastic cable, in particular the coiled cable, lies snugly against the robot arm segment body. The elastic cable is therefore dimensioned such that it remains in contact with the robot arm segment body even in an operating situation where it must extend over the shortest possible distance. This is achieved by maintaining a longitudinal preload on the elastic cable even in this short operating situation.It is also understood that the elastic cable is designed in such a way that it can stretch elastically to the greatest extent possible, even over the longest distance encountered during robot operation. Even in such an operating situation, the elastic cable retains a pre-tension.

[0048] Preferably, the elastic cable is routed along the outside of the robot arm segment body. This makes the elastic cable easily accessible, simplifying installation and... Removing the elastic cable. This simplifies the assembly and disassembly of the robot sensor array on the robot arm segment body.

[0049] The invention also relates to a robot unit with a robot arm segment according to the invention. Preferably, the elastic cable runs along an outer side of the robot, more precisely along an outer side of the robot unit. This results in the effects and advantages already described in connection with the robot sensor arrangement according to the invention.

[0050] In one embodiment, the elastic cable can extend across a joint connecting two robot arm segment bodies. In other words, the robot unit can also be equipped with an articulated cable bridge that bypasses the joint connecting the two robot arm segment bodies with respect to an electrical connection for a sensor. The elastic cable can thus skip or bridge a joint. This further increases the flexibility of use of the robot sensor unit.

[0051] According to one embodiment, at least one robot arm segment comprises a cable holder that laterally projects beyond a cable guide for the elastic cable, particularly a coiled cable. This allows the elastic cable to be guided particularly reliably in such a way that it does not undesirably interfere with the robot's environmental perception, even if it skips or bridges a joint of the robot.

[0052] According to one embodiment, the lateral projection is designed to make a length-elastic cable, in particular a spiral cable, undetectable for a predefined environment detection.

[0053] The invention also relates to a method for mounting a robot sensor arrangement, in particular a robot sensor arrangement according to the invention, on a robot, comprising: a. attaching a sensor mount and / or a sensor cover to a joint of the robot or in the region of a joint of the robot, wherein an electrical contact is connected to the sensor mount; b. connecting a flexible cable, in particular a coiled cable, to the electrical contact and guiding the flexible cable along an outside of the robot, wherein the electrical contact and at least a section of the flexible cable is projected by a projection provided on the sensor cover and / or on the sensor mount.

[0054] Preferably, the elastic cable can be routed to an additional sensor mount and / or sensor cover, connecting the sensor mount or cover to the additional sensor mount or cover. Due to the overhang of the electrical contact and at least a section of the elastic cable, the electrical contact and / or the elastic cable do not interfere with the robot's environmental sensing. Routing the electrical cable on the outside of the robot facilitates the assembly of the robot sensor array. This also simplifies disassembly, if necessary.

[0055] According to one embodiment, the elastic cable is guided under pre-tension. This ensures that the elastic cable always remains close to the outside of the robot, i.e., does not protrude from it.

[0056] The invention significantly expands the versatility of newly built or retrofitted robots. It enables the installation of external modules on the robot's cables within minutes. Furthermore, the individual modules ensure that even during large robot movements, cable length changes are limited to a single relative joint, thus reducing cable sag. Therefore, if other electronic components need to be attached to the robot gripper (e.g., a camera), this invention allows for data and power supply connections to be located close to the robot without complicated cable management.

[0057] This modular system also allows grippers and other attachments to be connected to the robot. Therefore, the term "robot arm segment" also includes grippers or other attachments. BRIEF DESCRIPTION OF THE FIGURES

[0058] The invention is described with reference to exemplary embodiments shown in the following figures, in which Fig. 1 illustrates a robot unit according to the invention with a robot sensor arrangement according to a first embodiment in several different views (a) to (f), Fig. 2 illustrates the robot unit according to the invention with a robot sensor arrangement according to Figure 1 in different views, with sensor covers removed for assembly; Fig. 3 illustrates a robot unit according to the invention with mounted sensor covers including a safety device for a tool according to a second embodiment; Fig. 4 illustrates an option in which a cable bridge and cable holder are additionally used; and Fig. 5 schematically illustrates the basic principle of the present invention. DETAILED DESCRIPTION

[0059] Figure 1 shows several views of a robot unit 50, which in the illustrated example is designed as an industrial articulated arm robot.

[0060] The robot unit comprises several robot arms, referred to here as robot arm segments 60. The robot arms or robot arm segments 60 are movably coupled to one another via joints 65. For the sake of clarity, only some robot arm segments 60 and only some joints 65 are labeled with a reference numeral in the views of Figure 1.

[0061] Each joint 65 further comprises a drive unit, not shown in detail, which is designed to move the robot arm segments 60 coupled via the respective joint 65 relative to each other.

[0062] Furthermore, each joint 65 has an unspecified housing unit that encloses the drive unit as well as parts of the actual joint 65.

[0063] The housing unit features an opening, also unspecified, which serves for the assembly and / or maintenance of the drive unit 34. The drive unit can therefore be serviced through this opening. It is also possible to replace the drive unit through this opening, i.e., to remove and reassemble it from the other components of the joint 65 or the robot unit 50.

[0064] A mechanical interface is provided in the area of ​​the opening. A cover assembly is attached to this mechanical interface, so that the opening is closed by means of the cover assembly. If such a cover assembly is installed, the

[0065] The drive unit and the actual joint are protected from unwanted environmental influences such as dust and moisture by the cover assembly and the housing unit.

[0066] The mechanical interface can have a contact surface in which the opening is provided essentially centrally. The contact surface can thus be designed as an annular surface. Furthermore, in the illustrated embodiment, the mechanical interface can comprise a total of four threaded bores to which a corresponding cover assembly can be attached.

[0067] In Figure 1, selected cover assemblies are labelled with the letters A, B and C. These cover assemblies have functions beyond simply covering. In particular, these cover assemblies A, B, C are components of a robot sensor assembly 1.

[0068] For this purpose, each of the cover assemblies A, B, C comprises a sensor receptacle 10 and a sensor cover 30. The sensor cover 30 is attached to the mechanical interface in the area of ​​the opening of the housing unit via the sensor receptacle 10.

[0069] In the illustrated embodiments, the sensor covers 30 are essentially circular cylindrical, connected to the associated sensor receptacle 10 via an axial end face. The opposite axial end face points away from the associated joint. Since the circular cylindrical shape of the sensor covers 30 involves relatively flat cylinders, they can also be described as disc-shaped.

[0070] Furthermore, the sensor receptacle 10 or the sensor cover 30 has a sensor 2.

[0071] In the illustrated embodiments, several sensors 2 are provided on each sensor cover 30. The sensors 2 are symbolized by dots on the outside of the sensor cover 30.

[0072] At least one of the sensors 2 is arranged on a lateral surface of the circular cylindrical sensor covers 30. At least one sensor 2 can also be provided on the axial end face facing away from the joint. However, for the following explanations, the sensors 2 on the lateral surface are of particular importance.

[0073] In the example shown, all sensors 2 are part of an environment detection system 5, i.e., each sensor 2 serves to detect objects in the environment of the robot unit 50, so that a collision with these objects can be avoided.

[0074] In order to supply these sensors 2 with electrical energy and / or to couple these sensors 2 to other sensors and / or a control unit via signal technology, each also features Cover assembly A, B, C has an electrical contact 20 which is connected to the sensor receptacle 10 and is designed to establish an electrical contact with a sensor 2 connected to the sensor receptacle. In this case, the sensor 2 is electrically connected to the electrical contact 20.

[0075] Furthermore, in the illustrated example, the sensor cover 30 and / or the sensor receptacle 10 are provided with a projection 31 that extends beyond the electrical contact 20. In this way, the electrical contact 20 is, so to speak, shielded from detection by the environmental sensing system, so that no unwanted interactions can occur between the electrical contact 20 and the environmental sensing system 5.

[0076] More precisely, the sensor covers 20 are enlarged in outer diameter so that the sensor cover 20 protrudes laterally beyond the electrical contact 20 in each cover component A, B, C.

[0077] In the embodiment shown in Figure 1, the cover assemblies A and B are connected by a length-elastic cable 40, which is coupled to the electrical contact of the cover assembly A and the cover assembly B, respectively.

[0078] The length-elastic cable 40 is designed as a spiral cable.

[0079] Similarly, the cover assemblies B and C are connected by another elastic cable 40, which is coupled to the electrical contact of cover assembly B and cover assembly C, respectively.

[0080] The length-elastic cable 40 is again designed as a spiral cable.

[0081] Due to the overhang 31, the length-elastic cable 40 is also overhanged at least sectionally, preferably completely, and thus shielded from detection by the environment detection 5.

[0082] Furthermore, the elastic cables are laid with pretension so that they are always guided close to the robot unit 50, i.e., to the respective arm 60 of the robot unit to be bridged. In other words, the elastic cables are guided under pretension along the robot arm segment bodies 61 of the respective robot arms 60.

[0083] This prevents movement of the robot unit from causing cable bays or sagging of the elastic cables.

[0084] The electrical contacts 20 are designed as connectors 25.

[0085] The assembly comprising the cover assemblies A, B, C and the length-elastic cables 40 connecting them can also be referred to as robot sensor arrangement 1.

[0086] The sensors 2 have been generally described as sensors used for obstacle detection by the robot unit 50. These sensors can be optical, such as a camera. Alternatively or additionally, they can be ultrasonic sensors.

[0087] Figure 2 shows the robot unit 50 from Figure 1 again, section by section, in different views. In the cover assembly B, the sensor cover 30 has been removed from the associated sensor mount 10. This illustrates the easy assembly and disassembly of the cover assemblies A, B, and C, i.e., the robot sensor assembly 1 and its components.

[0088] In particular, the robot sensor assembly 1 can be mounted by first attaching the sensor mount 10 and the sensor cover 30 to the associated joint 65 of the robot unit 50.

[0089] Simultaneously or subsequently, the elastic cable 40, in particular the coiled cable 40, can be connected to the electrical contact 20 and routed along the outside of the robot unit 50, i.e., along the relevant robot arm 60. As already explained, the electrical contact 20 and at least a section of the elastic cable 40 are overlaid by a projection 31 provided on the sensor cover 30 and / or on the sensor receptacle 10.

[0090] Figure 3 showed a robot unit 50 according to a second embodiment. The following explanation focuses solely on the differences compared to the robot unit 50 shown in Figures 1 and 2. Otherwise, the preceding explanations apply accordingly.

[0091] The robot unit 50 differs essentially from the robot unit 50 shown in Figures 1 and 2 in that a gripper 80 is mounted on the robot flange. Furthermore, a sensor ring 90 is mounted on the robot flange, which is designed to monitor the gripper 80 for possible collisions.

[0092] The sensor ring 90 is connected to the cover assembly C via another elastic cable 40.

[0093] The robot sensor arrangement 1 from Figure 3 therefore comprises, in addition to the components which are grouped together by the cover assemblies A, B and C and the elastic cables 40 connecting the cover assemblies A, B and C, an additional elastic cable 40 by means of which the sensor ring 90 is connected.

[0094] In this way, the sensor ring 90 can be supplied with electrical current via the robot sensor arrangement 1. Alternatively or additionally, sensor signals generated by the sensor ring 90 can be communicated via the robot sensor arrangement 1, e.g., to a control unit (not shown) of an environment detection system 5. It is also possible to communicate control signals to the sensor ring 90 via the robot sensor arrangement 1.

[0095] Figure 4 illustrates an option in which a cable guide 100 and / or a cable holder 62 are additionally used. It should be understood that although both the cable guide 100 and the cable holder 62 are shown in Figure 4, depending on the application, it is also possible to use only the cable guide 100 or only the cable holder 62.

[0096] The cable guide 100 and the cable holder 62 serve to fix and guide the elastic cable, respectively. While the cable holder 62 is designed to fix the elastic cable 40 relative to an associated robot arm segment 61, i.e., to prevent relative movements between the robot arm segment 61 and the elastic cable 40, the cable guide 100 can be designed to block some relative movements between the joint 65 and the elastic cable 40 and allow other relative movements between the joint 65 and the elastic cable 40. In the example shown, the cable guide 100 allows, for instance, one relative movement along the longitudinal direction of the elastic cable 40. All other relative movements are blocked. It can therefore also be said that the cable guide 100 guides the elastic cable 40 along its longitudinal direction.

[0097] Figure 5 illustrates once again the basic principle of the present invention.

[0098] For this purpose, a sensor mount 10 with an associated sensor cover 30 is illustrated. Both are mounted on a robot arm segment 60, which is shown only schematically. The sensor cover 30 is essentially cylindrical or disc-shaped.

[0099] In the illustrated variant, a total of three sensors are provided on one lateral surface of the circular cylindrical sensor cover 30. The number of sensors 2 is purely illustrative.

[0100] The sensors have an opening angle, i.e., detection angle, of approximately 175°. For the two sensors located in the image plane, this is represented by a dotted sensor axis and two dashed lines that define the opening angle.

[0101] The sensor mount 10 and the sensor cover 30 have a projection 31 created by an increased outer diameter. This means that the outer diameter of the sensor mount 10 and the sensor cover 30 is chosen to be large enough that the sensor mount 10 and the sensor cover 30 project radially beyond the robot arm segment 60 on all sides. A projecting length L of the projection is also shown in Figure 5.

[0102] The length L corresponds to at least one outer diameter of the elastic cable 40 and / or at least one outer diameter of the electrical contact 20. In the example shown, the length L is even slightly larger.

[0103] This means that, despite the opening angle of sensors 2 being approximately 175° and their mounting on the sensor cover 30, both the electrical contact 20 and the elastic cable 40 lie outside the detection range of the sensors 2. Consequently, the overlap can reliably prevent the electrical contact 20 and / or the elastic cable 40 from interfering with the robot's environmental sensing 5, i.e., from being detected by the environmental sensing system in an undesirable manner.

[0104] It is understood that it is also possible to use sensors 2 with an opening angle greater than 175°, in particular an opening angle of 180°, instead of sensors 2 with an opening angle, i.e., detection angle, of 175°. Likewise, it is possible to use sensors 2 with an opening angle of less than 175°. REFERENCE MARK LIST 1 Robot sensor array 2 Sensor 5 Environment detection 10 Sensor recording 20 electrical contacts 25 connectors 30 sensor covers 31 Superiority 40 length-elastic cable 50 robot units 60 robot arm segment 61 robot arm segment bodies 62 Cable holder 65 joint 70 articulated cable bridge 80 grippers 90 Sensor ring 100 cable routing

Claims

REQUIREMENTS 1. Robot sensor arrangement (1) comprising: a. a sensor receptacle (10); b. an electrical contact (20) connected to the sensor receptacle (10) and configured to establish electrical contact with a sensor (2) connected to the sensor receptacle (10); c. a sensor cover (30) configured to cover the sensor receptacle (10), wherein the sensor cover (30) has a projection (31) and extends beyond the sensor receptacle (10) on at least one side with the projection (31) where the electrical contact (20) is provided, and / or wherein the sensor receptacle (10) has a projection (31) on at least the side where the electrical contact (20) is provided, d. a flexible cable, in particular a coiled cable (40), which contacts the electrical contact (20).

2. Robot sensor arrangement according to claim 1, wherein a projecting length of the overhang (31) corresponds to at least one outer diameter of the elastic cable (40) and / or to at least one outer diameter of the electrical contact (20).

3. Robot sensor arrangement according to claim 1 or 2, wherein the sensor receptacle (10) is designed to receive a sensor (2) and / or a sensor cover (30) in a detachable and replaceable manner.

4. Robot sensor arrangement according to one of the preceding claims, wherein the sensor receptacle (10) is designed to permanently receive a sensor (2) and / or a sensor cover (30).

5. Robot sensor arrangement according to one of claims 1 to 4, wherein the sensor receptacle (10) is formed integrally with the sensor (2) and / or the sensor cover (30).

6. Robot sensor arrangement according to one of claims 1 to 5, wherein the electrical contact (20) has a plug connection (25) with which the elastic cable (40) can be coupled to the sensor receptacle (10).

7. Robot sensor arrangement according to claim 6, wherein the plug connection (25) is completely overlaid by the sensor cover (20) and / or the sensor receptacle (10).

8. Robot sensor arrangement according to one of the preceding claims, wherein the sensor cover (20) is enlarged in outer diameter such that the sensor cover (20) is laterally beyond the electrical contact (20) in such a way that the elastic cable (40) is not detectable by a predefined environmental detection (5).

9. Robot sensor arrangement according to one of claims 1 to 8, wherein the elastic cable (40) is dimensioned such that an internal pretension of the elastic cable (40) prevents sagging or bulging of the elastic cable (40) at varying distances.

10. Robot sensor arrangement according to any one of claims 1 to 9, wherein the spiral cable (40) has a round or oval or circular or overall convex spiral cross-section.

11. Robot sensor arrangement according to one of claims 1 to 9, wherein the spiral cable (40) has a kidney-shaped spiral cross-section, wherein a concave area of ​​the kidney shape is designed such that it can be attached to and guided against a robot arm segment body (61).

12. Robot sensor arrangement according to one of the preceding claims, further comprising: a. a further sensor receptacle (10); b. a further electrical contact (20) which is connected to the further sensor receptacle (10) and is configured to establish an electrical contact with a sensor (2) connected to the sensor receptacle; c. a further sensor cover (30) which is configured to cover the further sensor receptacle (10), wherein the further sensor cover (30) has a projection (31) and projects beyond the further sensor receptacle (10) on at least one side with the projection (31) on which the further electrical contact (20) is provided, and / or wherein the further sensor receptacle (10) has a projection (31) on at least that side on which the further electrical contact (20) is provided; d. a length-elastic cable, in particular a coiled cable (40), which connects the electrical contact (20) and the further electrical contact.

13. Robot arm segment (60) comprising a robot arm segment body (61) and a robot sensor arrangement (1) according to any one of claims 1 to 12, wherein the elastic cable (40) is guided along the robot arm segment body (61).

14. Robot arm segment according to claim 13, wherein the elastic cable (40) is dimensioned such that an internal pretension of the elastic cable (40) prevents sagging or bulging of the elastic cable (40) at varying distances, ensuring that the elastic cable (40) is tightly is located on the robot arm segment body (61).

15. Robot arm segment according to claim 13 or 14, wherein the elastic cable (40) is guided on an outside of the robot arm segment body (61).

16. Robot unit (50) with a robot arm segment (60) according to one of claims 13 to 15.

17. Robot unit (50) according to claim 16, wherein the elastic cable (40) extends over a joint (65) which connects two robot arm segment bodies (61).

18. Robot unit according to claim 17, wherein at least one robot arm segment (60) comprises a cable holder (62) which in particular projects laterally beyond a cable guide of the elastic cable (40).

19. Robot unit according to claim 18, wherein the lateral projection (31) is designed to make a length-elastic cable (40) unrecognizable for a predefinable environment detection (5).

20. Method for mounting a robot sensor assembly, in particular a robot sensor assembly according to any one of claims 1 to 12, on a robot, comprising: a. attaching a sensor receptacle (10) and / or a sensor cover to a joint of the robot or in the region of a joint of the robot, wherein an electrical contact (20) is connected to the sensor receptacle (10); b. connecting a flexible cable, in particular a coiled cable (40), to the electrical contact and guiding the flexible cable along an outside of the robot, wherein the electrical contact (20) and at least a section of the flexible cable (40) are projected by a projection (31) provided on the sensor cover and / or on the sensor receptacle.

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