EP3662345B1 - Control device for industrial machines - Google Patents

Description

The invention relates to a control device for industrial machines with controlled movement drives for machine components, in particular for controlled movable machine axes, as specified in the claims.

A large number of rotary control controls for manual operation or control of movement drives are known from the prior art. Among other things, electromechanical toggle switches are used, which can have either two or three predefined switching stages. A zero or rest position is provided, which can also be referred to as the inactive position. When the actuating element of the toggle switch is rotated by a certain angle of rotation in a first direction of rotation, for example to the right, up to a mechanical stop, a first active or switching state is triggered or recognized. The return of the actuator, starting from this mechanical stop, into the physically predefined zero or rest position is accomplished by a return spring. With a three-stage toggle switch, starting from the predefined zero or rest position, a rotary actuation in the opposite or in a second direction of rotation, in particular to the left, is also possible and the manual initiation of a second active or switching state can thus be achieved. The actuating element is pressed against the first or second stop by the operating force of the operator as long as activation of the respective switching state or the movement drive controlled by it is desired. When the actuator is released, it is automatically returned to the zero or rest position by the permanently acting preload or spring force.

From the EP 1 403 619 B1 an electronic operating system is known, which is provided as part of a driver information system in motor vehicles. In addition, this operating system should be able to be used as a display and operating device in connection with the control of machines, for example in industrial production. This operating system includes an electronic control unit, which has a computing unit, a display unit, which is suitable for visualizing graphic representations, and an operating unit with which manual interventions regarding the functionalities of the respective system can be made. To change parameters of the system, it is provided that a display mark is moved in the manner of a cursor over the display area of the display unit and an available function is thereby selected. After selecting the desired function by moving the display mark like a cursor, another control element is activated in order to be able to change parameters. This second control element makes it possible, for example, to change parameter values in connection with the function previously selected via a first control element. The measures described in this publication are only partially suitable for controlling or influencing machines with motion drives. Rather, the measures described are suitable for use in conjunction with relatively uncritical functionalities, such as those found in driver information systems in motor vehicles. Operating industrial machines with motion drives would only be partially satisfactory with this previously known design.

The EP 1 075 979 B1 describes a method for operating a multifunctional control device, which can also be used advantageously in connection with motor vehicles. In this multifunctional operating device, menus and/or operating functions are displayed on a display unit and said menus and/or functions are actuated via button elements and at least one rotary actuating element. At least one of these rotary actuation elements is freely programmable with regard to its directions of rotation and rotational positions and/or detent positions and/or actuation stops. This free programming is carried out in such a way that haptic feedback is generated in the rotary actuation path, which is assigned to the menus or functions called up. Each actuation function is assigned a set of haptic data that is dynamically adapted to a change in functional data. This enables intuitive operation after the operator is given haptic feedback, which is automatically adjusted depending on the respective menus or functions. However, operating industrial machines with motion drives is only possible to a limited extent with the specified device.

The CN 104 908 046 B describes a manually operated input device with a rotary actuator control element for controlling the movement of robot arms. The rotary actuator control element enables haptic feedback to the operator through a rotary motion coupling with an electric motor.

The object of the present invention was to overcome the disadvantages of the prior art and to provide a device by means of which a user is able to operate industrial machines with motion drives in the most practical way possible.

In particular, an object of the present invention is to improve the operability and programmability of machines with controlled movable components or actively adjustable machine axes.

This task is solved by a device according to the claims.

Accordingly, a control device for industrial machines with controlled movement drives for machine components is provided, which control device comprises at least one human-machine interface, in particular control input and output means. At least one control element is designed for manually influencing or specifying adjustment movements of at least one of the machine components, for example in the form of controlled adjustable machine axes. At least one of these operating elements is designed as a rotary actuator operating element with an actuating member which is rotatably mounted about an axis of rotation, which actuating member can be rotated by applying an actuating torque from an operator.

The corresponding control device is characterized in that the actuating element or its axis of rotation is in mechanical interaction with a controlled, variable rotational resistance generation means or is motion-coupled with it, an electronic evaluation and control device being designed for the variable adjustment of rotational resistances of the rotational resistance generation means. The evaluation and control device is set up to provide at least one toggle switch operating mode, in which the rotational resistance generation means can be controlled by the evaluation and control device in such a way that the rotational resistance generation means builds up a braking or blocking torque after a predefined rotation angle of the actuating element has been covered or generated, which inhibits, increasingly inhibits or prevents further rotation of the actuating member.

A switching state of the rotary actuator control element is activated or is considered active as long as an operating torque of the operator acting against the braking or blocking torque is the blocking torque or corresponds to the blocking torque, or exceeds a comparatively lower deactivation threshold value. In contrast, the switching state of the rotary control control element is considered inactive or deactivated if the actuation torque exerted by the operator falls below the deactivation threshold or is zero.

The specified measures enable improved manual operation or control of movement drives or machine components moved with them. In particular, an operating system is thereby created for an operator, which enables quickly understandable or intuitive manual operation of movable mesh components, in particular so-called machine axes. The corresponding operating actions can be carried out relatively comfortably and at the same time in a way that avoids errors. Through the clear operating actions and the associated conscious issuing of movement control commands, the risk of damage to a controlled machine can be minimized and personal safety can be increased. In particular, the danger posed by manually controlled machines can be reduced after unintentional or unwanted control commands are avoided or can be held back.

These advantageous effects can be achieved, among other things, by creating a mechanically simplified toggle switch. In particular, separate return springs or active return means for the actuator can be dispensed with, which reduces the associated risk of technical defects or failure. In addition, the assembly costs can be kept relatively low through the measures specified, especially in connection with larger quantities. The required installation space or space requirement can also be kept relatively low through the measures specified. The controllable rotary resistance generating means in conjunction with the evaluation and control device therefore enables the simulation of a toggle switch operating behavior or a toggle switch functionality in an efficient manner. In addition, the rotary control control element can fulfill changing functions and so on act as a central or multifunctional control or input element. In particular, this makes it possible to implement a process-related or program-controlled operating or control behavior that can be relatively flexibly adapted to the respective situation.

The measures according to claim 2 are also advantageous, since variable rotational resistances can be generated in a controlled manner with relatively high dynamics. In particular, torsional resistance to the actuating member can be built up and reduced or eliminated again in a relatively short time or with relatively high impulsiveness. The program or software controllability based on the evaluation and control device opens up a high level of flexibility and a wide range of variants with regard to haptic feedback that can be generated for an operator in the course of operating the rotary actuator control element.

The measures according to claim 3 advantageously evaluate the torque curve or the curve of the operating force of the operator relative to the actuating element and use it to simulate a toggle switch functionality. In particular, the controlled increase in braking torque haptically signals to the operator that the activation threshold has been reached and that the desired switching or movement function is thereby triggered. It is therefore not necessary for an operator to look at the actuating element and observe or take into account the angle of rotation covered. In addition, the further course of the actuation force or the corresponding actuation torque is evaluated and if the torque falls below a predefined threshold value, this is recognized or used as a clear switch-off or deactivation criterion.

A practical measure for determining the actuating force applied by the operator or for determining the actuating torque introduced into the actuating member and varying depending on time or angle of rotation is specified in claim 4. In particular, it is not necessary to provide separate sensors for determining forces or torques, which means that the overall structure can be kept as simple and cost-effective as possible.

The measures according to claim 5 are also advantageous, since this eliminates the need for a predefined starting or rest position for the actuating element, i.e. a fixed zero position of the actuating element. In particular, each angular position of the actuator can function as a starting or zero position for the specified toggle switch function.

An embodiment according to claim 6 is also practical. This means that any restoring means for the actuating element, for example preloaded springs or motor drives, can be dispensed with. Nevertheless, the implementation of a toggle switch functionality is possible in a reliable manner.

The measures according to claim 7 are also useful, as this enables efficient, time-saving and also comfortable operation of the rotary actuator control element. In particular, it is not necessary to manually turn the rotary actuator control element back into a predefined starting position or zero position after executing a control command, for example after issuing a movement control command.

A practical implementation or simulation of a two-stage toggle switch is specified in claim 8.

The measures according to claim 9 make it possible to effectively implement or replicate a three-stage toggle switch.

Through the measures according to claim 10, the operator can be given clear haptic feedback about the achievement and presence of the activation switching state. The slow drift with regard to the rotatability of the actuating element during the activation switching state of the actuating element also favors the measurement or determination of the actuating torque applied in each case or the determination of the required braking torque that counteracts this.

The measures according to claim 11 allow a relatively slow rotation speed while the activation switching state is present, which also means relatively long-lasting control or switching commands, it is not absolutely necessary for the operator to grip the actuator or to reach around.

A practical, time-dependent or angle-dependent course of the braking torque relative to the actuating element, which course can be clearly defined and easily implemented by the rotational resistance generating means and by the evaluation and control device, is specified in claim 10. In particular, the operator can be given particularly clear, haptic feedback regarding the achievement or presence of the activation switching state. In a sense, a locking behavior can be simulated, which clearly and unmistakably signals to the operator that the predefined angle of rotation of the actuator has been covered and thus an activation switching state has just occurred or is present.

Through the measures according to claim 13, the hardware or mechanical structure can be further simplified, whereby the manufacturing and implementation costs can be kept low. In addition, this minimizes the risk of incorrect operation and the resulting destruction of the turntable control element. In particular, by avoiding predefined mechanical end stops, it is not necessary to provide particularly massive pivot bearings or other mechanical components.

For a better understanding of the invention, it will be explained in more detail using the following figures.

Fig. 1

eine aus mehreren Maschinen, insbesondere Industrierobotern, gebildete technische Anlage und ein dabei eingesetztes, elektronisches Steuerungssystem, welches Steuerungssystem mehrere Steuervorrichtungen und eine Mensch-Maschine-Schnittstelle in Art eines tragbaren Handbediengerätes umfasst;

Fig. 2

eine Produktionsmaschine, insbesondere eine Spritzgießmaschine, welche eine elektronische Steuervorrichtung und eine daran angebundene Mensch-Maschine-Schnittstelle in Art eines stationären Bedienpanels umfasst;

Fig. 3

das Bedienpanel der Produktionsmaschine nach Fig. 2;

Fig. 4

eine Steuervorrichtung für industrielle Maschinen mit einem Drehsteller-Bedienelement, welches zur Bedienung oder Beeinflussung von Bewegungsantrieben dient;

Fig. 5

einen ersten Kennlinienverlauf hinsichtlich Betätigungsmoment und Verdrehwinkel eines Betätigungsorgans eines Drehsteller-Bedienelements mit einem Hemmungs- und einem Blockierverhalten gegenüber dem Betätigungsorgan;

Fig. 6

einen zweiten Kennlinienverlauf hinsichtlich Betätigungsmoment und Verdrehwinkel eines Betätigungsorgans eines Drehsteller-Bedienelements mit einem Hemmungs- und einem Blockierverhalten gegenüber dem Betätigungsorgan;

Fig. 7

einen dritten Kennlinienverlauf hinsichtlich Betätigungsmoment und Verdrehwinkel eines Betätigungsorgans eines Drehsteller-Bedienelements mit einem Hemmungsverhalten, einem Blockierverhalten und einem kombinierten Hemmungs- und Blockierverhalten gegenüber dem Betätigungsorgan;

Fig. 8

eine schematische Darstellung eines Betätigungsorgans eines Drehsteller-Bedien- elements, welches zur Nachbildung einer Knebelschalter-Funktion vorgesehen ist und eine virtuelle Rückstellfunktion besitzt.

They show in a highly simplified, schematic representation:

Fig. 1

a technical system made up of several machines, in particular industrial robots, and an electronic control system used Control system comprises a plurality of control devices and a human-machine interface in the form of a portable handheld control device;

Fig. 2

a production machine, in particular an injection molding machine, which comprises an electronic control device and a human-machine interface connected to it in the form of a stationary control panel;

Fig. 3

the control panel of the production machine Fig. 2 ;

Fig. 4

a control device for industrial machines with a rotary actuator control element, which is used to operate or influence motion drives;

Fig. 5

a first characteristic curve with regard to the actuation torque and angle of rotation of an actuator of a rotary actuator control element with an inhibition and a blocking behavior relative to the actuator;

Fig. 6

a second characteristic curve with regard to the actuation torque and angle of rotation of an actuator of a rotary actuator control element with an inhibition and a blocking behavior relative to the actuator;

Fig. 7

a third characteristic curve with regard to the actuation torque and angle of rotation of an actuator of a rotary actuator control element with an inhibition behavior, a blocking behavior and a combined inhibition and blocking behavior relative to the actuator;

Fig. 8

a schematic representation of an actuator of a rotary control control element, which is intended to simulate a toggle switch function and has a virtual reset function.

As an introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numbers or the same component names, whereby the disclosures contained in the entire description can be transferred analogously to the same parts with the same reference numbers or the same component names. The position information selected in the description, such as top, bottom, side, etc., is also related to the figure directly described and shown and, in the event of a change in position, these position information must be transferred accordingly to the new position.

In the Fig. 1 to 3 Embodiments of electrotechnical or electronic control systems 1 are shown, which can be used for the automation or control of industrial systems. Such an industrial plant or its control system 1 comprises at least one electronic control device 2, 2' or a plurality of distributed electronic control devices 2, 2' can also be provided. A corresponding system includes at least one machine 3 or a plurality of possibly interacting machines 3 or machine components. The at least one electronic control device 2, 2' is preferably designed to be software-controlled and serves primarily to implement the respective control functions of the respective industrial machine 3 or to be able to monitor, influence and/or program the processes of the machine 3.

According to the execution Fig. 1 Such an industrial machine 3 is formed by at least one industrial robot 4. Such an industrial robot 4 can be part of an assembly or manufacturing system. Through data networking of the respective control devices 2, 2' it can be provided that the industrial robots 4 can interact in terms of control technology. Such a data or control network between several industrial robots 4 can also include a central master computer 5. With regard to a central, decentralized, hierarchical or otherwise structured control architecture and networking, a wide variety of embodiments are conceivable, which can be selected according to the respective requirements.

At least one human-machine interface 6 (HMI) is assigned or can be assigned to at least one control device 2 'in at least one machine 3. By means of this human-machine interface 6, control-relevant interactions between an operator 7 and the respective machine 3 are made possible.

In the exemplary embodiment according to Fig. 1 the control-related human-machine interface 6 is formed by a mobile or portable hand-held control device 8. In the embodiment according to Fig. 2 the human-machine interface 6 is defined by a stationary control panel 9. The respective human-machine interfaces 6 can therefore also be referred to as operator interfaces.

A generic handheld control device 8 or control panel 9 has at least one input device 10, such as a touch-sensitive screen 11, input keys 12, switches, or other electrical or electromechanical input means. In addition, visually and/or acoustically detectable output means can be provided. In the case of a generic handheld control device 8 or control panel 9, the previously mentioned touch-sensitive screen 11, as well as lighting elements or signaling lamps can be provided to display system-relevant data or states. The scope of functions and the embodiment of the respective input device or the respective output device depend heavily on the respective application, in particular on the technical complexity of the machine 3 or system to be controlled. What is important here is that the operator 7 can control or monitor, influence and/or program the required control processes using the input device 10 and a suitable output device, in particular using the aforementioned touch-sensitive screen 11.

The control device 2 implemented in the human-machine interface 6, in particular in the hand-held control device 8 or in the control panel 9, and the control device 2 ' assigned to a machine 3 can interact in terms of data technology or control technology via wired and / or wireless communication interfaces.

As is known, for the automation of the respective machines 3, controllable, in particular at least activable and deactivatable, movement drives 13 are provided, which are connected by cables to the respective control device 2 '. Such movement drives 13 can often also be adjusted or changed as required with regard to their drive speed and/or drive power or driving force. Such movement drives 13 can, as in Fig. 2 or. Fig. 4 illustrated, by motors 14, by hydraulic cylinders, by proportional solenoid valves 15, or by other elements for active or controllable movement of machine components. The corresponding movement drives 13 also include actuators with which an adjustment movement of a machine component can be generated or initiated. Such a movement drive 13 and the respective machine component can also be referred to as a machine axis. A controllable machine component or machine axis can be understood, for example, as an articulated arm of an industrial robot 4, a feed unit, a processing unit of a machine tool, an actuator of a production machine, and the like. A plurality of sensors, limit switches and/or transmitters can typically also be connected to such a machine control device 2 ', as is generally known and in Fig. 4 is shown as an example. As a result, movement or functional sequences of the respective machine can be carried out fully automatically or at least partially automatically or monitored automatically.

To manually influence or program the respective movement drives 13 or machine components, at least one control element 16 is provided on the respective human-machine interface 6 for manually influencing or specifying adjustment movements of at least one of the machine components or machine axes. This manual influencing or specification of adjustment movements by an operator 7 preferably includes the possibility of changing the speed and / or power of the movement drive 13 to be controlled or selectively controllable. In addition, operating elements, in particular touch or switching elements, can be designed, which are used to activate and deactivate a selected or controllable movement drive 13 are provided.

At least one of the control elements 16 on the human-machine interface 6 is designed as a rotary control control element 17 with an endlessly or stop-free rotatable actuator 18. Endless rotation means that the rotary actuator control element 17 or its actuator 18 is designed in such a way that there are no mechanical end stops or no permanent limitation with regard to the rotational mobility of the actuator 18. This is in contrast to a typical potentiometer or adjustable ohmic resistor, which has a rotation or adjustment range of usually around 270°. The rotary actuator control element 17 as claimed is rather comparable to a so-called override potentiometer or can be the rotary actuator control element 17 can be designed as an endlessly rotatable incremental encoder. It is advantageous if the rotary actuator control element 17 enables endless rotation of its, for example, disk or wheel-shaped actuating member 18 or an associated, unlimited delivery of sensor pulses or increments.

Optionally, the actuating member 18 can include at least one marking 19, with which the respective rotation angle position of the actuating member 18 can be displayed to an operator 7. However, such a marking 19 on the actuating member 18, which can preferably be rotated endlessly or rotated without stopping, is not mandatory.

The turntable control element 17 is connected to an electronic evaluation and control device 20 or such an evaluation and control device 20 can be a component of the turntable control element 17. In particular, signals or actuation states of the rotary actuator control element 17 can be detected and evaluated by the evaluation and control device 20.

The evaluation and control device 20 can be designed as an independent or separate unit, or can be implemented by the control device 2, 2 '. In particular, the control device 2, 2 'can take over at least partial tasks of the evaluation and control device 20. This is primarily because the functionalities of the evaluation and control device 20 can be implemented predominantly in software or program technology and can therefore represent a functional scope of the control device 2, 2 'in a simple manner. A combinatorial interaction is therefore also possible in order to implement the evaluation and control device 20. The evaluation and control device 20 can also - as described above - be an integral part of the rotary actuator control element 17.

The rotary actuator control element 17 comprises at least one sensor-technical detection means 21 for determining the rotational operations carried out by an operator 7 relative to the actuating element 18. In particular, it is possible to use the sensor-technical detection means 21 to determine at least the angle of rotation traveled, i.e. the change in angle, and the direction of rotation of the actuating element 18 to detect. As a sensor technology detection means 21 Incremental encoders or absolute value encoders are preferably suitable, which are connected to the evaluation and control device 20 and thus provide the respective sensor signals or values for further processing or evaluation. In particular, the operating behavior exercised by the operator 7 relative to the actuating member 18 can be determined via the evaluation and control device 20. The operating behavior includes parameters such as direction of rotation, angle of rotation, speed of rotation, course of actuation or rotation, angular acceleration and the like. It follows that the rotational movements exerted by an operator 7 on the actuating element 18 or relative to its axis of rotation 22 are evaluated by the electronic evaluation and control device 20 and corresponding control commands for the controlled machine 3 or machine component are derived therefrom.

The actuating element 18 or its axis of rotation 22 is in mechanical interaction with a controlled variable rotational resistance generating means 23 or the rotational resistance generating means 23 is motion-coupled with the axis of rotation 22 of the actuating element 18. The evaluation and control device 20 is connected to the rotational resistance generation means 23 and is designed for the controlled, variable setting of rotational resistances of the rotational resistance generation means 23. The rotational resistance generating means 23 can comprise an electrorheological or magnetorheological fluid whose viscosity can be influenced by the action of electrical energy in the form of electric or electromagnetic fields. As a result, the operator 7 can be given varied haptic feedback in connection with the operation of the actuator 18 in a simple and reliable manner in terms of control technology. Such feedback can include detent levels and/or controlled varying actuation or rotational resistances.

The evaluation and control device 20, which is at least partially implemented using software, is set up, among other things, to provide a toggle switch operating mode of the rotary actuator control element 17 or the control device 2, 2 '. An exemplary behavior of the rotary control control element 17 in this toggle switch operating mode is shown in Fig. 5 to 7 illustrated schematically. The rotary actuator control element 17 can be used by the structure described and by the software-based evaluation and control device 20 also have or implement other operating modes. For example, the specified rotary actuator control element 17 can be switched between the toggle switch operating mode described below and an operating mode for proportional control or manual speed and/or position regulation of motion drives 13 or machine components - and vice versa. These switches between various operating modes, implemented either manually or automatically, depend on the type of movement drive 13 or actuator that is to be controlled manually by the operator. Depending on the type of movement drive 13 to be controlled or depending on the technical process to be carried out, the control device 2, 2 'can also be used to automatically select and provide the respective operating mode of the rotary actuator control element 17.

A schematic representation of an exemplary rotary control control element 17, which can provide at least one toggle switch operating mode, is shown in Fig. 8 shown. Such a rotary control control element 17 on the handheld control device 8 ( Fig. 1 ) or on the control panel 9 ( Fig. 3 ) can have a switching function and/or a key function relative to a motion drive 13 to be controlled in the toggle switch operating mode described in detail below.

The switching functions of the rotary control control element 17 can therefore be implemented as latching switching functions and/or as tactile switching functions. In addition, the evaluation and control device 20 can be set up to provide a first toggle switch operating mode in which rotary actuation or rotation of the actuating member 18 is enabled in only one direction of rotation. This corresponds to a simulation of a two-stage toggle switch with a virtual zero or inactive position and a switching or active position distanced from it by a rotation angle ---ui or -α ₁ .

Alternatively or in combination, the evaluation and control device 20 can be set up to provide a second toggle switch operating mode in which rotational actuation of the actuating member 18 in both directions of rotation is permitted or enabled, as shown in FIG Fig. 8 was hinted at. This corresponds to the simulation of a three-stage toggle switch, which has a virtual zero or inactive position and two switching or Has active positions, which can be selected or activated by an operator by turning the actuating member 18 to the left or right. Such a three-stage toggle switch operating mode can be used, for example, for bidirectionally operable motion drives 13. However, it is also possible that the quasi three-stage toggle switch operating mode with virtual zero or inactive position provided by the rotary control control element 17 has or can implement both a push-button switching function and a latching switching function. For example, when the actuating member 18 is rotated to the right, a latching switching function can be triggered and when the actuating member 18 is rotated to the left, a tactile switching function can be implemented - or vice versa.

What is important here is that the rotation angle position last assumed defines a new starting position or a virtual zero position for a subsequent toggle switch operating mode or for a next toggle switch operating action by the operator after the actuation torque Mu exerted by the operator has ceased relative to the control element 18. With the specified rotary control control element 17, there is no physical reset of the actuator 18 to a predefined rest or zero position. In particular, neither a spring reset nor a motor or other reset of the actuating member 18 is provided after manual rotation. Rather, the actuating member 18 always remains in those rotation angle positions that were actively produced or effected by the operator through a rotary actuation. Accordingly, the rotary actuator control element 17 according to the invention or its actuator does not have a fixed predefined starting position or zero position, but rather a large number of virtual or control-related starting positions or zero positions, which are defined by different or variable rotation angle positions of the actuating member 18. Examples of a plurality of virtual zero positions or variable initial positions and examples of switching or active positions that can be activated via a twist angle +α ₁ or - α ₁ or for switching or active positions that are remote from this are given in Fig. 8 shown schematically by directional arrows.

In particular, if the rotational resistance generating means 23 blocks further rotation of the actuating member 18 or its axis of rotation 22 after reaching the rotation angle + α ₁ or - α ₁ predefined in terms of control technology, the temporarily acting active or switching position of the rotary actuator control element 18 following one be a new starting position or a virtual zero position for a next operating action or for a subsequent actuation or for further activation of the rotary actuator control element 17 by the operator.

Basically, it is provided that the rotational resistance generation means 23 can be controlled by the evaluation and control device 20 in such a way that the rotational resistance generation means 23 applies a brake after or shortly before covering a predefined twist angle +α ₁ or -α ₁ of the actuating member 18 - and/or blocking torque M _BR , M _BL builds up or generates, as described in the Fig. 5 to 7 was exemplified. This depends on the rotation distance or angle of rotation +α ₁ or -α ₁ . dependent braking and/or blocking torque M _BR , M _BL causes a certain inhibition, an increased or increasing inhibition, or a blocking in relation to the rotatability or further rotatability of the actuating member 18.

The twist angle +α ₁ or -α ₁ is preferably predefined and can have a value within a value range between 10° and 90°. According to a practical embodiment, the predefined twist angle -α ₁ or -α ₁ is in a range between approximately 30° and approximately 60°, for example approximately 45°, in order to enable the rotary actuator control element 17 to be operated as conveniently and intuitively as possible. The control-technically predefined twist angle +α ₁ or -α ₁ can, for example, be stored in the evaluation and control device 20 and detected or controlled by the evaluation and control device 20 by means of the sensor technology detection means 21, for example via a corresponding incremental encoder.

In order to be able to effect a rotation or a change in the angle of rotation of the actuating member 18, the operator applies an actuating torque M _U , which counteracts the braking and/or blocking torque M _BR , M _BL which is generated or can be generated in a controlled manner by the rotational resistance generating means 23. overcomes the braking torque M _BR acting in each case. Examples of a varying actuation torque M _U , which changes in relation to a period of time or in relation to a twist angle α that changes over time, are shown in FIG Fig. 5 to 7 presented schematically or in a very simplified manner.

The actuating torque M _U applied or to be applied by the operator or its course depending on the angle of rotation is in the Fig. 5 to 7 illustrated in full lines. The braking torque M _BR which is applied or is to be applied by the rotational resistance generating means 23 and counteracts the actuating torque M _U or the blocking torque M _BL which may be generated is shown in dotted lines. In order to be able to effect a rotation of the actuating member 18 and thus a change or influence on the angle of rotation +α ₁ or -α ₁ , the actuating torque M _U of the operator must be at least slightly larger than that generated by the rotational resistance generating means 23. Control-technically controlled or varying braking torque M _BR . The greater the difference or overhang between the actuating torque Mu and the braking torque M _BR determined by the evaluation and control device 20 or generated by the rotational resistance generating means 23, the faster the actuating member 18 can be rotated and the faster the predefined twist angle + α ₁ or -α ₁ can be reached or taken.

The blocking torque M _BL , which may be specified or caused by the evaluation and control device 20 and generated by the rotational resistance generating means 23, is preferably so high that it is clearly visible to the operator that further rotation of the actuating member 18 is not provided or the rotation should be considered blocked. It should be taken into account that the controllable rotational resistance generating means 23 can of course only generate or provide a finite or limited blocking torque M _BL . However, the blocking torque M _BL of the rotational resistance generating means 23 relative to the actuating member 18 is so high that it can be clearly perceived or clearly felt by the operator during the operating actions.

As can be seen from the actuation torque to rotation angle curves Mu (Nm) / α (°, rad) of the exemplary ones Fig. 5 to 7 As can be seen, a switching state of the rotary control control element 17 is active or its switching state is considered activated as long as an actuating torque M U of the operator acts against the braking or blocking torque M _BR , M _BL of the rotary resistance generating means ₂₃ relative to the actuating element 18 Blocking torque M _B is or corresponds to the blocking torque M _B , or exceeds a comparatively lower, predefined deactivation threshold M _D. In contrast, the Switching state of the rotary control control element 17 is inactive or its switching state is considered deactivated when the actuating torque M _U exerted by the operator falls below the predefined deactivation threshold M _D or is zero. The actuating torque M _U is zero if no twisting force is exerted on the actuating member 18 by the operator. The actuating torque Mu decreases when the operator exerts comparatively less torque compared to the actuating member 18, for example because a controlled movement drive 13 is to be stopped or slowed down.

The deactivation threshold value M _D can therefore be in a value range between zero and less than the value of the maximum possible or achievable blocking torque M _BL . The deactivation threshold M _D is expediently in a range between 10% and 90%, preferably between 10% and 60% of the maximum blocking torque M _BL that can be applied.

As explained above, the predefined twist angle +α ₁ or -α ₁ is expediently at a value between 10° and 90°, preferably between 20° and 60°, particularly preferably between 30° and 50°. This results in the most ergonomic operation of the actuating element 18 being achieved.

It is expedient if a defined torsional resistance, ie a defined counter or braking torque M _BR , is built up by the rotational resistance generating means 23 for reaching or until the predefined twisting angle +α ₁ or -α ₁ is reached, as is the case Fig. 5 to 7 can be seen. In particular, it can be useful if the actuating member 18 cannot rotate completely freely. This provides the operator with active actuation or switching behavior, which can improve the intuitiveness and ergonomics of operation. This initial braking force M _BR until the predefined, absolutely measured twist angle +α ₁ or -α ₁ is reached can be designed to rise at least approximately linearly and can be defined in a step-like or ramp-like manner ( Fig. 5 ), or be designed to gradually increase according to a defined curve shape ( Fig. 6 , 7 ). When reaching or after covering the predefined twist angle +α ₁ or -α ₁ , there is then a defined activation threshold value M _A , the resistance moment or braking torque M _BR of which can be easily perceived by the operator. This defined Activation threshold M _A can also be set up shortly before or shortly after reaching the predefined twist angle +α ₁ or -α ₁ .

In the exemplary embodiment according to Fig. 5 the activation threshold value, M _A of the rotary control control element 17 is defined to be lower than its deactivation threshold value M _D. In the exemplary embodiment according to Fig. 6 the activation threshold value M _A and the deactivation threshold value M _D are set to be the same or at least approximately the same. On the other hand, in the exemplary embodiment Fig.7 the activation threshold value M _A is set higher than the deactivation threshold value M _D of the rotary control control element 17.

Like that Fig. 5 to 7 Furthermore, it can be seen that it is expedient if, in the course of reaching or upon reaching the predefined twist angle +α ₁ or -α ₁ of the actuating element 18, the rotational resistance generating means 23 generates a braking torque M _BR at least in the amount of this predefined activation threshold value M _A is built up, which braking torque M _BR is lower than its maximum or maximum possible blocking torque M _BL . The switching state of the rotary control control element 17 is activated or is considered activated while and as long as the actuating torque M _U applied by the operator exceeds the predefined activation threshold value M _A or the predefined deactivation threshold value M _D. If the operator covers the predefined, absolute angle of rotation +α ₁ or -α ₁ with the actuating element 18 and the required actuating torque M _U is applied for this at least at the level of the predefined activation threshold M _A , the rotary actuator control element 17 goes into operation the active switching state or then signals the rotary control control element 17 of the control device 2, 2 '( Fig. 1 to 4 ) an active or actively operated switching state.

If the actuation torque Mu disappears or falls sharply, as described in the Fig. 5 to 7 is represented by falling edges on the right side of the various actuation torque and braking torque characteristics M _U and M _BR (α), the defined deactivation threshold value M _D is reached or fallen below and the rotary actuator control element 17 is then placed in the inactive switching state or signals the rotary control control element 17 to the higher-level control device 2, 2 '( Fig. 1 to 4 ) then an inactive or deactivated switching state, whereupon the controlled movement drive is stopped or at least switched off, whereupon a movement stop occurs.

It is important that the actuating element 18 remains at the respective location if the actuating torque Mu applied by the operator is eliminated, that is, its angle of rotation is not changed but is maintained. In particular, there is no automatic resetting, for example by spring action or by motors, but rather the actuating element 18 remains in the last active or switching position after the predefined twist angle +α ₁ or -α ₁ has previously been covered, ie after the application of the for this purpose required actuation force or actuation energy by an operator. In particular, the rotation angle position last assumed after the actuation torque Mu exerted by the operator has ceased defines a starting position or a virtual zero position for subsequent use as a simulated toggle switch or for a subsequent, re-imitated toggle switch operating mode, as in Fig. 8 was exemplified. As a result, the rotation angle +α ₁ or -α ₁ predefined in terms of control technology to achieve or effect an active switching position is an absolutely measured or fixed angle of rotation of the actuating element 18, i.e. an angle of rotation which is dimensioned independently of a specific initial angular position of the actuating element 18. Accordingly, in the specified rotary actuator control element 17 there is no fixed zero position or no fixed rest or starting angular position for the actuator 18 or such reference points are not required for the specified rotary actuator control element 17.

According to a practical measure, it can be provided that the actuating torque Mu exerted by the operator relative to the actuating member 18 is detected or determined by measuring or calculating the amount of electrical energy or power that is to be used or applied in order to correlate this with the rotation angle +α ₁ or -α ₁ of the actuator 18 to be able to generate the braking torque M _BR required or to be applied. In particular, the braking or blocking torque curve predefined by the evaluation and control device 20, as shown in FIG Fig. 5 to 7 was shown as an example, a measure of the required electrical energy or power, which is required for defined braking or blocking of the actuating member 18, i.e. a measure of the electrical energy consumption of the rotational resistance generating means controlled or controlled by the evaluation and control device 20 23.

Like that Fig. 5 to 7 Furthermore, it can be seen that the evaluation and control device 20 can be set up to control the rotational resistance generation means 23 in such a way that after the predefined rotation angle +α ₁ or -α ₁ of the actuating member 18 has been covered and the associated presence of a rotational angle position, in which the rotary actuator control element 17 signals or assumes an active switching state, the braking torque M _BR of the rotational resistance generating means 23 is kept in a drift value range 24 or at a drift threshold value, which results in a comparatively slower or more difficult rotation of the actuating member 18 against the prevailing Braking torque M _BR of the rotational resistance generating means 23 allows or enables. This drift value range 24 is in the value range between the deactivation threshold M _D and the blocking torque M _BL , as is the case Fig. 5 to 7 can be seen.

We especially that Fig. 6 and 7 As can be seen from the respective dotted characteristic curves, it is also possible that the rotary control control element 17 or its rotational resistance generating means 23 when reaching the predefined twist angle +α ₁ or - α ₁ or in the course of reaching the predefined Twist angle +α ₁ or -α ₁ , or shortly after reaching the predefined twist angle +α ₁ or -α ₁ , the maximum braking torque, in particular the blocking torque M _BL , builds up, which avoids or holds back further rotation of the actuating member 18. As soon as the operator has sufficiently reduced the applied actuating force or the corresponding actuating torque M _U or the actuating torque M _U falls to zero by releasing the actuating element 18, the defined switch-off threshold value M _D is reached or fallen below and an inactive or deactivated switching state recognized and signaled or provided. These processes or technical measures are the two pulse-like or needle-shaped characteristic curve sections shown in dotted lines Fig. 6 and 7 refer to. As in Fig. 7 shown with dashed lines, an actuation torque to angle of rotation curve M _U / α (t) is also possible, which is a combination of a drifting braking torque M _BR within the drift value range 24, reaching the blocking torque M _BL and the subsequent drop in the Actuating torque M _U represents zero.

The drift value range 24 or the drift threshold value can be selected such that the actuator 18 continues to rotate at a rotation speed of less than 5 ° / s (angular degrees per second), preferably less than 1 °/s, is possible or permitted by control technology.

How best according to the characteristic curve Fig. 6 can be removed, the evaluation and control device 20 can also be set up or programmed in such a way that rotational resistance generation means 23 is controlled in such a way that immediately before the predefined twist angle is reached +α ₁ or -α ₁ , or else in When the predefined rotation angle or -α ₁ of the actuating member 18 is reached, the braking torque M _BR of the rotational resistance generating means 23 is at least reduced or canceled or deactivated within a rotation angle range of up to approximately 10 ° (angle degrees). In addition, it can be provided that the braking torque M _BR of the rotational resistance generating means 23 is immediately raised, in particular in a relatively pulse-like manner, to a value that results in a blocking or causes a comparatively stronger inhibition, ie only a relatively slow or difficult rotation of the actuating member 18 enables. This pulse-like lowering and raising of the braking torque M _BR , which counteracts the actuation torque Mu, simulates a locking or a locking level, whereby the operator can be provided with clear haptic feedback in relation to reaching or assuming the active switching state.

The exemplary embodiments show possible embodiment variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiment variants, but rather various combinations of the individual embodiment variants with one another are possible and this variation possibility is based on the teaching on technical action through the subject invention Skills of the specialist working in this technical field.

The scope of protection is determined by the claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions in their own right. The task underlying the independent inventive solutions can be found in the description.

All information on value ranges in this description should be understood to include any and all sub-ranges, e.g. the information 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10 , i.e. all subranges start with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

For the sake of order, it should finally be pointed out that in order to better understand the structure, elements have sometimes been shown out of scale and/or enlarged and/or reduced in size.

List of reference symbols

1 Control system _α1 Twist angle 2, 2' Control device Mu Actuation torque 3 machine M _BR Braking torque 4 Industrial robots M _BL Blocking moment 5 Master computer M _A Activation threshold 6 Human-machine interface _MD Deactivation threshold 7 Operator 8th Hand-held control device 9 Control panel 10 Input device 11 touch-sensitive screen 12 Enter key 13 Motion drive 14 engine 15 magnetic valve 16 Control element 17 Rotary control element 18 Actuator 19 mark 20 Evaluation and control device 21 Detection means 22 Axis of rotation 23 Rotary resistance generating means 24 Drift value range

Claims (13)

1. A control device (2, 2') for industrial machines with controlled movement drives (13) for machine components, comprising a man-machine interface (6) with at least one operating element (16) for manually influencing or presetting adjustment movements of at least one of the machine components, wherein at least one operating element (16) is configured as a rotary actuator operating element (17) with an actuation member (18) supported being rotatable about an axis of rotation (22), which actuation member (18) can be rotated by the application of an actuating torque (M_B) by an operator, wherein the actuation member (18) or its axis of rotation (22) is in mechanical interaction with a controlled variable means generating rotational resistance (23) or is motion-coupled thereto, wherein an electronic evaluation and control device (20) is configured for the variable setting of rotational resistances of the means generating rotational resistance (23), characterized in that the evaluation and control device (20) is configured to provide at least one toggle switch operating mode, in which the means generating rotational resistance (23) can be controlled by the evaluation and control device (20) in such a way that the means generating rotational resistance (23) builds up or generates a braking or blocking torque (M_BR, M_BL) after a predefined angle of rotation (α₁) of the actuation member (18) has been covered, which inhibits, increasingly inhibits or prevents further rotatability of the actuation member (18), wherein a switching state of the rotary actuator operating element (17) is activated or is deemed to be activated, as long as an actuating torque (Mu) of the operator acting against the braking or blocking torque (M_BR, M_BL) is equal to the blocking torque (M_B) or corresponds to the blocking torque (M_B) or exceeds a comparatively lower deactivation threshold value (M_D), and that the switching state of the rotary actuator operating element (17) is inactive or is deemed to be deactivated when the actuating torque (Mu) exerted by the operator falls below the deactivation threshold value (M_D) or is zero.
2. The control device according to claim 1, characterized in that the means generating rotational resistance (23) comprises an electrorheological or magnetorheological fluid the viscosity of which can be influenced by the action of electrical energy in the form of electric or electromagnetic fields.
3. The control device according to claim 1 or 2, characterized in that when the predefined angle of rotation (α₁) of the actuation member (18) is reached, a braking torque (M_BR) at least at the level of a predefined activation threshold value (M_A) is built up by the means generating rotational resistance (23), which braking torque (M_BR) is lower than its maximum blocking torque (M_BL), wherein the switching state of the rotary actuator operating element (17) is activated or is deemed to be activated while and as long as the actuating torque (Mu) applied by the operator exceeds the predefined activation threshold value (M_A) or the predefined deactivation threshold value (M_D).
4. The control device according to one of the preceding claims, characterized in that the actuating torque (Mu) exerted by the operator with respect to the actuation member (18) is detected or determined by measuring or calculating that amount of electrical energy or power which is to be expended or applied, in order to be able to generate the braking torque (M_BR) required or to be applied in correlation with the angle of rotation (α₁) traveled by the actuation member (18), which is required in accordance with the braking or blocking torque curve of the actuation member (18) predefined by the evaluation and control device (20), or is to be provided by the means generating rotational resistance (23).
5. The control device according to one of the preceding claims, characterized in that the predefined angle of rotation (α₁) is an absolute angle of rotation which is dimensioned independently of an initial angular position of the actuation member (18).
6. The control device according to one of the preceding claims, characterized in that, when the actuating torque (Mu) exerted by the operator ceases, the actuation member (18) retains the rotational angle position assumed at this point in time.
7. The control device according to one of the preceding claims, characterized in that the rotational angle position last assumed after the actuating torque (Mu) exerted by the operator has ceased defines an initial position or a virtual zero position for subsequent use as a simulated toggle switch.
8. The control device according to one of the preceding claims, characterized in that the evaluation and control device (20) is configured to provide a first toggle switch operating mode, in which a rotary actuation of the actuation member (18) in only one direction of rotation is enabled.
9. The control device according to one of the preceding claims, characterized in that the evaluation and control device (20) is configured to provide a second toggle switch operating mode in which a rotary actuation of the actuation member (18) in both directions of rotation is permitted.
10. The control device according to one of the preceding claims, characterized in that the evaluation and control device (20) is configured to control the means generating rotational resistance (23) in such a way that upon performed coverage or after coverage of the predefined angle of rotation (α₁) of the actuation member (18), and the associated presence of a rotational angle position, in which the rotary actuator operating element (17) signals or assumes an active switching state, the braking torque (M_BR) of the means generating rotational resistance (23) is held in a drift value range (24) or at a drift threshold value which permits or enables a comparatively slower or more sluggish further rotation of the actuation member (18) counter to the braking torque (M_BR) of the means generating rotational resistances (23).
11. The control device according to claim 10, characterized in that the drift value range (24) or the drift threshold value is selected in such a way that further rotation of the actuation member (18) at a rotational speed of less than 5 °/s (angular degrees per second), preferably of less than 1 °/s, is made possible.
12. The control device according to one of the preceding claims, characterized in that the evaluation and control device (20) is configured to control the means generating rotational resistance (23) in such a way that before reaching or in the course of reaching the predefined angle of rotation (α₁) of the actuation member (18) and the associated presence of an rotational angle position, in which the rotary actuator operating element (17) signals or assumes an active switching state, the braking torque (M_BR) of the means generating rotational resistance (23) is lowered or deactivated with respect to a rotational angle range of up to 10° (angular degrees) and is subsequently raised to a value which enables blocking or a comparatively slower rotatability of the actuation member (18).
13. The control device according to one of the preceding claims, characterized in that the actuation member (18) is mechanically supported without a stop and can be rotated endlessly if or as long as no blocking torque (M_BL) is generated by the means generating rotational resistance (23).

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