EP0902158A2 - Safety device for power driven devices - Google Patents

Abstract

With vertically moving roller or concertina doors (15) operated by electric motors interference of the opening at any point blocks one or more of the infrared beams (19) which is electronically detected and stops or reverses the motor (41).

Description

The present invention relates generally a safety device for motor-driven Systems such as Segment or roller doors, according to the preamble of claim 1. The Safety device is used to detect an in the trajectory of a system component, e.g. a gate, rolling grille, lifting gate and the like Object.

Such security systems are, for example from documents DE-U-8615042 or DE-A-3416546 known. According to DE-U-8615042, one is from one Safety bar made of elastomeric material a finishing profile on one side with a lamp and on the other side with one provided photosensitive resistance. If the Safety bar meets an obstacle, the Beam of light interrupted, causing an engine brake actuating switching pulse is generated.

DE-A-3416546 relates to a security device for stopping moving objects. Around an improved response of a light barrier arrangement having safety device for Stopping motorized objects reach, the light barrier arrangement consists of a light transmitter and a light receiver that both ends of one having a light channel Profile rail are arranged. When hitting on an obstacle becomes that of an elastically deformable Material existing rail under reduction squeezed the cross section of the light channel, so that the light beam is interrupted becomes.

With these elastically deformable safety strips is only then sufficient security against injuries and damage, if their deformation range follows the overtravel of the leading edge of the end profile from the Actuation of the switching device until complete Braking corresponds to the same. Because of the Weight and especially kinetic energy the door leaf and the final profile result apart from the switching delay, however, a relative long overrun, so high and therefore expensive Safety strips must be used.

Another disadvantage of such, from profiled elastomeric material of existing safety strips exists apart from the inevitable Operating force and the result of their deformation resulting resilience in being accordingly the direction of impact switching delays or can even result in switching failures.

Because of these problems, people have started Light barrier arrangements in at least one distance corresponding to the overtravel of the door leaf before the leading edge of the final profile of the Arrange the door leaf so that the movement of the Gate leaf is stopped when an obstacle Light beam from the light barrier arrangement interrupts. Because the light beam is at a distance from the end profile of the door leaf is ensured that the final profile is not the one Light interrupting obstacle in contact is coming.

Examples of this are in documents EP-B-0325602 and EP-B-0284066. From EP-B-0325602 is a safety arrangement for roller shutters known in which the switching device from a There is a light barrier, its transmitter and sensor elements on both sides of the end profile in one distance corresponding to the braking distance below this are arranged on support arms. The support arms are slidably guided in the respective brackets, which is connected to a lower part of the door leaf are. If the support arm against the floor or strikes a stop, the encoder and transducer elements relative to the door leaf towards it moved and come to the end of the closing movement of the gate in a position at least in the Height of the bottom edge of the door leaf.

EP-B-0284066 is a high-speed door with a in the area of the lower edge of the end profile provided switching device known in their Actuation the brake is applied. The switching device consists of a light barrier, the Transmitter and transducer elements on both sides of the end profile in a way corresponding to the braking distance Distance below this in the area of the bottom Ends of stamps are arranged in guides the end profile or lateral sword-like Extensions are inserted. When it hits the stamp on the ground or a stop immerse the stamp in the guides so that the end profile is supported on the floor can.

In the above two examples are the encoder and transducer element on one part arranged of the door leaf, which leads to the fact that the Encoder and transducer elements moved with the door leaf become. Because of this movement, the electrical cables and other components of the electrical circuit located between door leaf and frame stretch, strong dynamic Loads caused by vibrations of the door leaf and continuous bending stresses become. In addition, dirt, dust and water on various electrical system components deposit and for a decrease in performance or Malfunction of the system. As distracting these known systems prove themselves in many Cases of the fact that the electrical supply the donor and receiving elements through the gate must be performed so that the construction of the Tores or the gate segments are adapted to this got to. This affects the flexibility of the user but also the manufacturer, what the design of the system to be monitored.

Are also known for securing gates Light curtain systems either on one side of the Door leaf, or, to improve protection, can be mounted on both sides of the door leaf. In the former case, there is insufficient personal and property protection on the non-meshed one Side of the door leaf. In the latter case the effort too high and the light curtain system too expensive. In addition, both systems have in common that they are prone to switching errors, e.g. if Power supply components such as Power cable at external weather influences in the beam path of the Immerse the light grid in an uncontrolled manner.

All known safety devices described above has in common that they either too restrictive influence on the Design options of the monitored Systems have, or have the consequence that the Control device for the overall system to be monitored becomes relatively complex.

The object of the present invention is therefore a safety device for motor-driven To create systems of the generic type, the maximum with simple assembly technology Security for anyone to be monitored System components on the one hand and for operators on the other hand offers and those with low control technology Effort.

This task is solved by Features of claim 1.

According to the invention is a self-sufficient Safety device created, the radiation state control device so that works at once certain position of the system component (Initialization phase) automatically a predetermined one Activation algorithm for radiation protection for example in the form of individual light barrier systems can expire. The algorithm according to the invention allows, for example, the rays into the trajectory to lay the system component, so that now a single light grid system is sufficient to control the to monitor the entire movement path of the system components, thereby the device engineering effort is further reduced. Because the current position the various activation states of the system component of the light barriers, synchronized the safety device automatically with the Movement of the gate. A connection to the control system of the system component to be monitored no longer required, so that the invention Security device quasi as a "stand-alone solution" Can be retrofitted for a wide variety of moving systems is. It also requires the necessary control circuit simple, and complex interfaces to Control of the system to be monitored can be omitted. With the safety device according to the invention the result is a hitherto unachievable Security level of surveillance. Because Any object that has the monitored movement area the system component, e.g. one gate, one Car window or a machine tool component touched, inevitably leads to a response of the Safety device and already prevents one Start of the drive unit for the one to be monitored System component. Possible control errors, however also inertia-related movement deviations (running larger moving masses) are from the start compensated.

The safety device according to the invention is can be used individually. You can be with any moving system components, e.g. powered vehicle windows, cabin doors, tool slides etc. simply combine without the respective drive control of the system component would have to be modified.

Advantageous developments of the invention are Subject of the subclaims.

With the further development of claim 2 standard light barrier strips used become.

Further training ensures maximum security of claim 3 achieved because so too both side guides completely against accidental Reaching in are secured. Furthermore this also becomes a shield itself sensitive light strips realized.

Basically, it is sufficient to implement the solution principle according to the invention a single Pair of rays. The sensitivity of the safety device can with the further development of the claim 4 can be raised as required.

The optimal algorithm for determining the Activation states of the individual rays is Subject of claims 5 and 6. With this Algorithm can be taken in order from the pre-current one Edge of the system component (gate) passed through Beams sequentially and automatically into one passive state X, an inactive state 0 and be brought to an active state 1. This States become with the movement of the leading Pass through the edge sequentially.

With the development of claim 7 if necessary, an adaptation to the speed of movement of the gate are made to the inertia of the gate.

The features of claim 8 and 9 lead to an advantageous signal flow in the system and a constant maximum security status of the Radiate, even if the system component only is moved back in areas and then again has the direction of movement to be monitored.

If an intermediate storage device according to Claim 10 is provided, the security device at the same time as a detector device to determine the position and the direction of movement the system component (gate) become.

With the further development of claim 11 is included in the safety device Maximum area on a reasonable, from the concerned Dependent measure determined under certain circumstances. The effort for position determination and thus the safety device is further reduced.

With the features of claims 12 and 13 can affect the sensitivity of the safety device be kept particularly high where specific Hazard patterns occur, e.g. at rolling gates in low height above the ground, in the flat building Move the boom of forklift vehicles. The Cross-beam technology according to claim 13 enables the use of simpler and cheaper Light strips.

The safety device is not on any Orientations of the movement of the system component limited.

When the strips of the radiation protection grille are on the guides are arranged (claim 14), the ray surface of the movement surface comes like this suggests that already for a large part of the applications there is sufficient security.

The highest level of security results with claim 15, with the particular advantage easy retrofitting in existing guide systems.

Fig. 1 eine teilweise geschnittene Vorderansicht eines Rolltors zeigt, für das die erfindungsgemäße Sicherheitseinrichtung vorgesehen ist;

Fig. 2 die Ansicht gemäß "II" in Figur 1;,

Fig. 3 eine der Figur 2 ähnliche Ansicht einer Variante;

Fig. 4 eine Seitenansicht gemäß "IV" in Figur 1;

Fig. 5 eine der Figur 4 ähnliche Ansicht einer Variante des Tors;

Fig. 6 den Schnitt "VI-VI" in Figur 4;

Fig. 7 einen der Figur 6 entsprechenden Schnitt einer Variante des Führungsprofils;

Fig. 8 und Fig.9 Blockschaltbilder der Ansteuerund Auswerteeinrichtung der Sicherheitseinrichtung;

Fig. 10 ein Flußdiagramm zur Erläuterung der Arbeitsweise der Sicherheitseinrichtung;

Fig. 11 die schematische Schnittsnsicht einer Fahrstuhlkabine, deren Tür durch die Sicherheitseinrichtung überwacht wird;

Fig. 12 die schematische Teilansicht eines Kfz-Fensters, dessen Schließbewegung durch die Sicherheitseinrichtung überwacht wird; und

Fig. 13 die schematische Ansicht einer Fahrstuhlanordnung an einem Gebäude mit zugehöriger Sicherheitseinrichtung.

Further features and advantages of the present invention will become apparent from the following description of preferred embodiments of the present invention with reference to the accompanying drawings. Show it:

Fig. 1 shows a partially sectioned front view of a roller door for which the safety device according to the invention is provided;

2 shows the view according to "II" in Figure 1;

3 shows a view of a variant similar to FIG. 2;

Figure 4 is a side view according to "IV" in Figure 1;

5 shows a view similar to FIG. 4 of a variant of the gate;

Figure 6 shows the section "VI-VI" in Figure 4;

7 shows a section corresponding to FIG. 6 of a variant of the guide profile;

8 and FIG. 9 block diagrams of the control and evaluation device of the safety device;

Fig. 10 is a flow chart for explaining the operation of the safety device;

11 shows the schematic sectional view of an elevator car, the door of which is monitored by the safety device;

12 shows the schematic partial view of a motor vehicle window, the closing movement of which is monitored by the safety device; and

13 shows the schematic view of an elevator arrangement on a building with an associated safety device.

In the description of the figures, those components are that correspond to each other, with similar ones Provide reference numerals, just another Is preceded by an ordinal number. Below is supposed to first a first with reference to FIGS. 1 to 10 Field of application of the safety device for moving gates are described.

There is a roller door 11 of width BR and height HR in a known manner essentially from two sides arranged hollow guide profiles 12 and 13 with U-shaped cross-section, one on the side Guide profiles resting cross member 14 in which a Motor and a winding shaft driven by the motor is housed, and one in vertical slot-like guides in the side guide profiles 12 and 13 guided and on the winding shaft wound flexible door leaf 15.

Since the roller door for which the safety device according to the invention is used corresponds to a generally known roller door, a further description of the further construction thereof is omitted here.
A roller shutter 11 is assigned a preferably optical safety device that is independent of the door control, ie, works autonomously, and is preferably optical. For this purpose, a bar 17, 18 of a light grid arrangement, for example based on infrared rays, is attached to both sides of the door leaf 15, one bar accommodating the light transmitters and the other bar accommodating the light receivers, so that a multiplicity of one-way light barriers with the rays 19 -1 to 19-n is formed.
In the embodiment shown, a receiver is assigned to each transmitter. In addition, the rays run parallel to each other. However, this is not absolutely necessary. Several receivers can be assigned to a transmitter. In addition, the rays 19 can also run obliquely.
The strips 17, 18 are attached in such a way that the surface 20 spanned by the light beams 19 has at least one line 123 (FIG. 3) in common with the movement surface 122 (FIG. 3) swept by the leading gate edge 21 of the door leaf 15. In the embodiment according to FIGS. 1, 2, 4 and 5, the levels coincide, ie the light grid lies directly in the closing level of the door leaf.
All embodiments have in common that the strips 17, 18, 117, 118 are attached to the guide rails 12, 13 and 112, 113, respectively. According to FIGS. 2, 4 and 5, they are arranged inside the guide rail or the guide profile 12, 13, in the embodiment according to FIG. 3 they are attached laterally to the profiles 112, 113, specifically on different sides of the door leaf.
The closing movement of the door is monitored with the light barrier arrangement in order to rule out that the leading edge of the door meets an obstacle. Figure 5 shows that the monitoring height H can be limited to a reasonable level, for example 2500 mm. The figure further shows that the shape of the door leaf can be arbitrary, for example can be formed by folded segments 224. The leading edge 221 is in turn guided in a guide profile 213 in which the light bar 218 can also be accommodated.
Figures 6 and 7 show variants for the arrangement of the light strips in or on the relevant guide profile:
According to FIG. 6, the guide profile 312 is provided with a further profile chamber which is adapted to the light bar 317 and which adjoins the guide chamber 325 for a roller 326 of the door leaf 315. Retrofitting a gate with the safety device according to the invention is carried out here by exchanging the guide profile.
According to FIG. 7, the guide profile 412 can remain essentially unchanged when retrofitting. Here the web 427 of the guide profile 412 receives a series of bores 428 in a hole pattern corresponding to the light barrier arrangement. The strips 417 are attached to the outside of the web 427.
So that the beams of the light barrier arrangement leading from the transmitter to the receiver can run in the movement area of the leading gate edge 21, the safety device has a special control circuit with which the beams are sequentially assigned different activation states depending on the position and movement of the door leaf. This is explained in more detail below:
In each case the beam 19-0 that is closest to the leading edge 21 when the gate closes receives the activation state ZERO from the control circuit 40, ie when this light beam passes through the edge 21 shortly thereafter, this light barrier does not interrupt the closing movement of the door leaf Signal off.
All rays 19-x lying behind the ray 19-0 in the direction of movement and which have already been covered by the door leaf assume the inactive state X.
In contrast, the beams 19-1 to 19-n are in the active state 1, ie any obstacle in the area of the beams 19-1 to 19-n ultimately delivers an output signal SA which is applied to an interrupter or inverter relay 41 to stop or reverse the drive of the motor. It can be seen from the illustration in FIG. 1 that the control 42 of the door drive is thereby detached from the safety device 40, ie that both devices 40, 42 work independently of one another.
When the door leaf reaches beam 19-0, the control circuitry ensures that beam 19-0 becomes passive beam 19-x while beam 19-1 becomes new beam 19-0. Thus, when the door leaf is closed, all beams pass sequentially from the active state 1 to the transition state ZERO and finally to the passive state X, automatically controlled by the movement of the door leaf. The only exception is the top beam 19- *, which begins with the transition state ZERO.
The safety device also serves as a device for determining the position of the door leaf. For this purpose, when the gate is opened, the released beams are armed sequentially via the transition state ZERO to the active state 1.
FIGS. 8 and 9 show a possible embodiment for the control of the light grid and the evaluation of the signals applied to the individual light barriers. Figure 8 shows the transmitter part 40-2, and Figure 9 shows the associated receiver part 40-1.
By means of a mutiplexer arrangement MUX1 to MUX4 which is known per se, the individual transmitters S1 to Sn can be addressed and evaluated individually, for example in the form of light-emitting diodes, and the receivers E1 to En in the form of phototransistors, ie the light barriers. In other words, the individual transmitters, such as light-emitting diodes, are controlled by the microcontroller and can be switched on and off individually and selectively.
On the other hand, the signals received by the receiver, such as, for example, the photo transistors, can be evaluated individually and selectively by means of the microcontroller on the receiver side. Filter (43), amplifier (44) and threshold value circuits 45 (Schmitt trigger) can be used to eliminate interference.
With this arrangement, specific light barriers can also be specifically blanked out in order to represent pre-determined boundary conditions of the door, such as a brief entry via a threshold ramp or the presence of a momentary high snow cover.
Finally, the program sequence on which the safety device is based is explained with reference to FIG. 10:
The system is initialized in step 1. The position of the leading gate edge is determined, whereby the signals present at the individual addresses can already be used here. The current position of the gate edge is at the xth address, ie at the xth beam.
If an object is detected during the position determination, the control circuit outputs an output signal SA, ie the outputs are set.
Otherwise, the light grid is evaluated from position x + 2, ie the address x + 1 is given the state ZERO and all beams x + 2 to x + n are active.
If an obstacle is now detected, the outputs are set. Otherwise the routine runs again.
FIGS. 11 to 13 show further exemplary areas of application for the safety device:
According to FIG. 11, the safety device is assigned to a cabin door 450 that closes horizontally. A light bar 517 is embedded in the floor and has a complementary ceiling bar (not shown). The door 450 is driven by a motor M that has a controller 542.
The beams of the light bar can in turn be controlled and evaluated individually by means of the control circuit 540.
Another advantageous application example is shown in FIG. Here, light strips 617, 618 are arranged on the door frame of a motor vehicle, preferably in the critical closing area BS, so that there is complete personal protection against pinching body parts. Again, the control circuit 642 of the window drive 660 remains unaffected by the safety device. The operation of the control circuit 640 corresponds to the examples described above.
It can be seen from FIG. 12 that the light strips can be easily adapted to the system conditions (space, size, orientation).
Finally, FIG. 13 shows an exemplary embodiment for the movement monitoring of elevator cabs 770 which move vertically up and down. Light strips 717A, 717B and 717C are again installed in the plane of movement of the cabins.
The peculiarity of this variant is that the circuit 740 is constructed or programmed such that only those beams which are covered by the cabin 770 have the activation state X, the beam de state closest to the momentary movement direction and the state ZERO and all other beams Take state 1.

Of course there are deviations from the previously described embodiments possible without to leave the basic idea of the invention. So is the radiation protection is not necessarily on light rays limited. It is also possible that the transmitter and receiver assigned to a single guide rail are, so that a reflection light barrier is used. It is also possible with a number of reflection light buttons to work.

In the illustrated embodiments, the light source, for example, a conventional one Incandescent lamp, a light emitting diode or a laser. As The light receiver can be a photoelectric receiver such as. a photocell, a photoresistor, a Photo element or a photodiode can be used.

The invention thus creates a safety device for externally driven systems, for protection the movement of a system component against unwanted collision with one in the trajectory of the system component, whereby the object monitoring system component along a predetermined Track (ET gate level) is guided, with the trajectory of a leading edge of the system component preferably monitoring optical radiation protection, preferably based of infrared rays, the at least two, preferably at least three or a plurality of in the direction of movement the system components are staggered, preferably has parallel rays, which are broadcast on one side of the system component and received or reflected on the other side and with a safety circuit with which the movement of the system component stopped or is reversed when an obstacle in the trajectory the system component is detected, thereby characterized that the radiation protection such is arranged that the one defined by the rays Radiant area (E) with that of the leading one Edge swept movement area at least one Line has in common, and that the self-sufficient Safety device a radiation status control device that has the rays depending on the position and movement of the system component different activation states (X, NULL, 1) assigns.

Claims (18)

Safety device for externally powered systems, to secure the movement of a system component against unwanted collision with one in the trajectory of the system component, the System component to be monitored along a predetermined Track (gate level ET) is guided, with one the trajectory of a leading edge of the System component monitoring preferably optical Radiation protection (17, 18; 517; 617; 618; 717), preferably based on infrared rays, the at least two, preferably at least three or a plurality of in Direction of movement of the system component preferably has parallel rays that sent out on one side of the system component and on the other hand received or reflected, and with a safety circuit with which the System component movement stopped or reversed becomes an obstacle in the trajectory of the System component is detected, characterized in that that the radiation protection is arranged such that the radiation area defined by the rays (20; 120) with the one swept by the leading edge (21) Movement area at least one line (123) together and that the self-sufficient safety device a beam state control device (40; 540; 640; 740) which has the rays (19) in dependence on the position and movement of the system component assigns different activation states (X, NULL, 1). Safety device according to claim 1, characterized in that the radiation area of the system component is a level. Safety device according to claim 1 or 2, characterized characterized in that the radiation area with the movement area coincides. Safety device according to one of claims 1 to 3, characterized in that the radiation protection of a radiation protection grid is formed. Safety device according to one of claims 1 to 4, characterized in that a device for Determination of the position of the leading edge (21) of the System component is provided and that the beam state control device (40) is constructed in such a way that at least that of the leading edge (21) on next lying, from the system component (gate 12) uncovered beam (19-0) an inactive transition state (ZERO) between an active state (1) and assigns a passive state (X). Safety device according to claim 5, characterized in that a circuit is provided which during the movement of the motor-driven system when driving over the at least one in the transition state (ZERO) beam (19-0) located in the direction of movement nearest beam (19-1) from the active state (1) in the transition state (ZERO). Safety device according to claim 5 or 6, characterized characterized in that the number of on the transition state (ZERO) set rays (19-0) with the moving speed the system component (door leaf) is changeable. Safety device according to claim 6 or 7, characterized characterized in that the from the closing edge (21) interrupted and in transition (ZERO) beam (19-0) located in the closing direction closest to the system component (gate 15) and beam (19-1) in the active state (1) in sets the transition state (NULL). Safety device according to one of claims 6 to 8, characterized in that the passive state (X) located rays during the backward movement of the System component (gate) sequentially in the activation state (1) can be switched. Safety device according to one of claims 1 to 9, characterized in that a storage device is provided in which the activation states running at least two adjacent beams to be cached from changing the Activation states the direction of movement to determine motor-driven systems. Safety device according to one of claims 4 to 10, characterized in that the radiation protection grid has a starting beam (19- *) in a starting position of the system in which the leading Edge is outside the radiation protection grid, assumes the transition state (NULL), preferably the starting beam in case the System component (door leaf) when switching on the Safety device inside the radiation protection grille located, independently determined and determined becomes. Safety device according to one of claims 1 to 11, characterized in that the distance (SA) of Beams from each other in the direction of movement to be monitored (BS) of the system decreases. Safety device according to one of claims 1 to 11, characterized in that the radiation protection grid is controlled at least in certain areas, that a transmitter beam from at least two receivers is evaluated (cross-beam technology). Safety device according to one of claims 1 to 13 for monitoring one over guide rails guided body, such as one door leaf, one Lift cabin or a closure body, e.g. one Window pane in which at least the leading one Section of the body guided in side guides , which sit on frames, characterized in that the components of optical radiation protection to the Frames are preferably arranged on the guides. Safety device according to claim 14, characterized characterized in that the strips of the as radiation protection grille trained radiation protection in the guide profiles are integrated. Safety device according to one of claims 1 to 15, characterized by monitoring the closing movement a driven motor vehicle window. Safety device according to one of claims 1 to 15, characterized by monitoring the movement an elevator cabin. Safety device according to one of claims 1 to 15, characterized by monitoring the closing movement an elevator cabin door.

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