# US 11,897,124 B2 · Method for monitoring a supply system of a robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,124 B2 - Document ID: US11897124B2 - Status: Granted - Kind: B2 - Application number: 16/982,672 - Filed: 2019-03-18 - Published: 2021-01-07 - Granted: 2024-02-13 - Earliest claimed: 2018-03-19 - Assignees: Leoni Protec Cable Systems GmbH - Applicants: Bizlink Robotic Solutions Germany GmbH - Inventors: Bastian Hitz - Web page: https://patentgrep.com/patent/US11897124B2 ## CPC - B25J 19/0029: {arranged within the different robot elements} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - B25J 13/087: {for sensing other physical parameters, e.g. electrical or chemical properties} - B25J 19/06: Safety devices - G01R 31/11: using pulse reflection methods - G01R 31/58: Testing of lines, cables or conductors (testing of electric windings G01R31/72) - B25J 19/0025: {Means for supplying energy to the end effector} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) ## Abstract A method monitors a supply system of a robot having a robot arm and a robot hand movable relative thereto. The supply system has a supply chain, in particular a cable assembly, and a guide for the supply chain. The supply chain is guided along the robot arm in order to supply the robot hand. The supply system also has a number of sensors for monitoring at least one state variable of the supply system. The functional capability of the supply system is concluded, inferred or predicted from values for the state variable that are determined by the sensors. ## Claims ### Claim 1 A method for monitoring a supply system of a robot having a robot arm and a robot hand movable relative to the robot arm, the method comprising: providing the supply system with a supply chain and a guide for the supply chain; guiding the supply chain along the robot arm for supplying the robot hand; monitoring at least one state variable of the supply system by using a plurality sensors of the supply system; and drawing conclusions as to a functionality of the supply system based on values for the state variable ascertained by the sensors. ### Claim 2 (depends on 1) The method according to claim 1, which further comprises providing a cable assembly as the supply chain. ### Claim 3 (depends on 1) The method according to claim 1, which further comprises providing the supply chain with an electrical cable and integrating one of the sensors in the electrical cable. ### Claim 4 (depends on 3) The method according to claim 3, which further comprises providing the one sensor as a bend sensor. ### Claim 5 (depends on 3) The method according to claim 3, which further comprises providing the one sensor as a line element of the electrical cable, feeding a sensor signal into the line element and evaluation a response signal of the line element. ### Claim 6 (depends on 5) The method according to claim 5, which further comprises: performing a plurality of individual measurements in a course of a measurement cycle; feeding a measurement signal into the line element per individual measurement; generating a stop signal upon exceeding a predefined threshold value due to a reflected measurement signal component; and ascertaining a time of flight between feeding in the measurement signal and generating the stop signal. ### Claim 7 (depends on 6) The method according to claim 6, which further comprises ending the individual measurements upon generating the stop signal, and changing the threshold value between the individual measurements. ### Claim 8 (depends on 6) The method according to claim 6, which further comprises: performing a second individual measurement following a recording of a first stop signal in a first individual measurement; and predefining a measurement dead time being greater than a time of flight recorded in the first individual measurement, for the first stop signal in the second individual measurement, to prevent a reflected component associated with the first stop signal from being recorded in the second individual measurement. ### Claim 9 (depends on 8) The method according to claim 8, which further comprises performing the second individual measurement with a threshold value being identical to a threshold value used in the first individual measurement. ### Claim 10 (depends on 3) The method according to claim 3, which further comprises providing another of the sensors as an external sensor disposed outside the electrical cable in addition to the one sensor integrated in the cable, and evaluating a measurement value from the external sensor in addition to a measurement value from the sensor integrated in the electrical cable to draw a conclusion as to a current functionality of the supply system. ### Claim 11 (depends on 10) The method according to claim 10, which further comprises using the measurement value from the external sensor to classify a measurement value obtained from the integrated sensor as correct or incorrect. ### Claim 12 (depends on 10) The method according to claim 10, which further comprises using a comparison system to compare the measurement values for the state variables, and making a statement about the functionality from the comparison. ### Claim 13 (depends on 12) The method according to claim 12, which further comprises recording the state variables of a multiplicity of supply systems, transmitting the state variables to a superordinate common central evaluation center, and using the state variables to modify the comparison system. ### Claim 14 (depends on 1) The method according to claim 1, which further comprises providing the guide with a compensation system connected to the supply chain, using the compensation system to record a movement of the supply chain and using the compensation system to assess the functionality of the supply system. ### Claim 15 (depends on 14) The method according to claim 14, which further comprises using the compensation system to record, selectively or in combination, an acceleration of the supply chain, a number of compensation movements or a magnitude of a deflection. ### Claim 16 (depends on 14) The method according to claim 14, which further comprises providing one of the sensors as an external sensor disposed in or on the guide, and using the external sensor to record the movement of the supply chain. ### Claim 17 (depends on 1) The method according to claim 1, which further comprises using at least one further data source, and taking the at least one further data source into consideration for an assessment of the functionality. ### Claim 18 (depends on 17) The method according to claim 17, which further comprises using a machine controller of the robot as the at least one further data source.