# US 12,109,689 B2 · Monitoring system for a flexurally elastic strand-shaped element and flexurally elastic, strand-shaped element > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,689 B2 - Document ID: US12109689B2 - Status: Granted - Kind: B2 - Application number: 17/600,704 - Filed: 2020-03-26 - Published: 2022-06-16 - Granted: 2024-10-08 - Earliest claimed: 2019-04-01 - Assignees: BizLink Robotic Solutions Germany GmbH - Applicants: Bizlink Robotic Solutions Germany GmbH - Inventors: Bastian Hitz - Web page: https://patentgrep.com/patent/US12109689B2 ## CPC - B25J 19/0025: {Means for supplying energy to the end effector} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - F16L 11/12: with arrangements for particular purposes, e.g. specially profiled, with protecting layer, heated, electrically conducting (F16L11/11 takes precedence) - G01L 5/226: {to manipulators, e.g. the force due to gripping} - H02G 1/00: Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines - 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}) - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - H02G: INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES ## Abstract A monitoring system is used to monitor the bending load of at least one strand-shaped element. The strand-shaped element is subjected to bending during operation, extends in a longitudinal direction. The element has a sheath, in which a recess is formed on the circumferential side, at least in sections. A pressure-sensitive sensor element lies in the recess and emits a sensor signal in the event of a pressure load. ## Claims ### Claim 1 A monitoring system for monitoring a bending load of a strand-shaped element that is subjected to bending during operation, comprising: the strand-shaped element, which extends in a longitudinal direction; said strand-shaped element having a sheath and said sheath having a recess formed therein at least in sections on a circumferential side thereof; a pressure-sensitive sensor element disposed in said recess and configured to emit a sensor signal upon being subjected to a pressure load; a local measuring unit for receiving the sensor signal; and an evaluation unit for evaluating the sensor signal with regard to a bending stress of said strand-shaped element on a basis of a pressure load of said sensor element caused by a bending of said strand-shaped element; wherein said recess is an at least sectionally helical groove, said sensor element is a sensor line lying in said groove, and said sensor line has a conductor surrounded by an elastically deformable dielectric and is connected to said local measuring unit. ### Claim 2 (depends on 1) The monitoring system according to claim 1, wherein said local measuring unit is configured to feed a measurement signal into said sensor line and to receive a signal portion of the measurement signal reflected at an interference point, wherein the reflected signal portion forms the sensor signal, and wherein the measurement signal is at least partially reflected at the interference point as a result of a pressure load on the dielectric that is stressed by a bending. ### Claim 3 (depends on 1) The monitoring system according to claim 1, wherein said sheath is a corrugated tube with the helical groove. ### Claim 4 (depends on 1) The monitoring system according to claim 1, wherein at least one supply line is guided in said sheath. ### Claim 5 (depends on 1) The monitoring system according to claim 1, wherein said strand-shaped element is a hose package for a multi-axis industrial robot. ### Claim 6 (depends on 1) The monitoring system according to claim 1, wherein said sensor line has an outer diameter, said groove has a groove width, and the outer diameter is matched to the groove width. ### Claim 7 (depends on 1) The monitoring system according to claim 1, wherein said dielectric is a foamed dielectric. ### Claim 8 (depends on 1) The monitoring system according to claim 1, wherein a material of said dielectric is a material selected from the group consisting of a thermoplastic rubber, a polyurethane (PUR), and a thermoplastic vulcanizate (TPV). ### Claim 9 (depends on 1) The monitoring system according to claim 1, wherein said sensor line is a coaxial line. ### Claim 10 (depends on 1) The monitoring system according to claim 1, wherein said evaluation unit is configured to identify a location of the bending based on the sensor signal. ### Claim 11 (depends on 1) The monitoring system according to claim 1, wherein said evaluation unit is configured to determine a direction of the bending of said sheath based on the sensor signal. ### Claim 12 (depends on 1) The monitoring system according to claim 1, wherein said evaluation unit is configured to conclude a current bending radius based on the sensor signal. ### Claim 13 (depends on 1) The monitoring system according to claim 1, wherein said evaluation unit is a central unit disposed at a distance from the device to be monitored and configured to receive the sensor signal. ### Claim 14 (depends on 13) The monitoring system according to claim 13, wherein a plurality of devices to be monitored are connectable to said central processing unit for data exchange, and said central processing unit is configured to evaluate the data from the plurality of devices to be monitored. ### Claim 15 A monitoring system for monitoring a bending load of a strand-shaped element that is subjected to bending during operation, comprising: the strand-shaped element, which extends in a longitudinal direction; said strand-shaped element having a sheath and said sheath having a recess formed therein at least in sections on a circumferential side thereof; a pressure-sensitive sensor element disposed in said recess and configured to emit a sensor signal upon being subjected to a pressure load; a local measuring unit for receiving the sensor signal; and an evaluation unit for evaluating the sensor signal with regard to a bending stress of said strand-shaped element on a basis of a pressure load of said sensor element caused by a bending of said strand-shaped element; wherein said recess is an at least sectionally helical groove, said sensor element is a sensor line lying in said groove, and said sensor line has a conductor surrounded by a dielectric and is connected to said local measuring unit; wherein said local measuring unit is configured to feed a measurement signal into said sensor line and to receive a signal portion of the measurement signal reflected at an interference point, wherein the reflected signal portion forms the sensor signal, and wherein the measurement signal is at least partially reflected at the interference point as a result of a pressure load on the dielectric that is stressed by a bending; and wherein said measuring unit is configured to feed in a wobble signal and to perform a frequency reflectometry method. ### Claim 16 A flexurally elastic strand-shaped element that is subjected to bending during operation and that extends in a longitudinal direction, the element comprising: a sheath, said sheath having a recess formed therein on a circumferential side at least in sections thereof; a pressure-sensitive sensor element, said sensor element lying in said recess and being configured to emit a sensor signal upon being subjected to a pressure load; and a local measuring unit for receiving the sensor signal and for transmitting the sensor signal to an evaluation unit; wherein said recess is an at least sectionally helical groove, said sensor element is a sensor line lying in said groove, and said sensor line has a conductor surrounded by a dielectric and is connected to said local measuring unit; and said sheath is a corrugated tube with the helical groove. ### Claim 17 (depends on 16) The flexurally elastic element according to claim 16, configured as a hose package that is attached to an industrial robot.