EP3584400A1 - Safety door and method for operating a safety door - Google Patents

Abstract

The disclosure relates to a protective device (10, 110, 210, 310) in the form of a protective door or a protective gate (12) for a system (14), in particular a production system, with a closing element (26, 126, 226, 326), in particular a high-speed closing element (26, 126, 226, 326) with a closing edge (28, 128, 228, 328), the closing element (26, 126, 226, 326) in a closing plane (18) between an open position and a closed position, a drive (38, 138) for driving the closing element (26, 126, 226, 326), a monitoring device (64, 164, 264, 364) with at least one sensor unit (66, 166, 266, 366) ), which monitors an apron (72) of the locking level (18) in order to detect the intrusion of foreign objects (194, 196, 198, 296, 396) into a security zone (176, 276, 376), and with a control device (50, 150), which is designed to operate the drive (38, 138) on the basis of data received from the monitoring device depending on whether a detected foreign object (194, 196, 198, 296, 396) is within the security zone (176, 276, 376) in a first distance range (178, 278, 378) or a second Distance range (180, 280, 380) is to operate selectively in a first operating mode or in a second operating mode. The disclosure further relates to a use and a method for operating a protective device (10, 110, 210, 310)

Description

The present disclosure relates to a protective device in the form of a protective door or gate. In particular, the present disclosure relates to so-called machine protection gates and / or machine protection doors. Protective devices of this type are used, for example, to securely close access to machines and systems and to release them when necessary.

In particular, the present disclosure relates to so-called high-speed gates and doors. These are usually gates and doors that have a closing speed of greater than 0.5 m / s. However, this is not to be understood as restrictive.

Furthermore, the present disclosure relates at least in exemplary embodiments to so-called industrial gates, that is to say gates for industrial use. For example, such a gate can have a width of 2.50 m and a height of 3 m. However, this is also not to be understood as restrictive. Doors and gates to which the present disclosure relates are provided with an opening and closing drive.

There are vertically closing doors and gates as well as horizontally closing doors and gates. The closing elements (comparable to a door leaf) can have a plurality (in themselves) of stiff segments / links, a rollable web and / or a rollable armor. Combinations of these are also conceivable.

Doors and gates in the industrial environment are subject to various safety regulations, such as the so-called accident prevention regulations. Various scenarios are conceivable when operating a gate, which must be avoided at all costs. One scenario is the collision of an object with the closed gate. Another scenario is the pinching of an object when the door closes. Both scenarios can lead to production downtimes, damage and even health impairments.

Against this background, safety devices are prescribed in the industrial environment, which in particular monitor a closing door / door in order to prevent jamming and / or other collisions with moving parts of the door. So it is mandatory, at least for certain uses, to monitor a so-called closing edge of the closing door for collisions and / or impending collisions. In the event of an undesirable condition (an alarm), the gate should be opened again as soon as possible. This process is called reversing.

It is not uncommon for the safety devices to be functionally and possibly structurally independent of other devices for operating the door. In this way, a certain redundancy can be ensured.

In this way, collisions and consequential damage can be effectively avoided. However, it has been shown that a large number of alarms, which can regularly include a not inconsiderable number of false alarms, can lead to a reduction in productivity.

Particularly when an alarm condition is recognized and the door reverses as quickly as possible, current processes / production steps are often interrupted and, if necessary, even emergency stop routines are carried out. This regularly leads to considerable delays and unproductive times. This can cause cycle times to increase.

Against this background, the present disclosure is based on the object of specifying a protective device in the form of a protective door or a protective gate for a system, which enables high productivity and in particular reduces downtimes and / or alarm times due to false alarms. The protective device should nevertheless comply with applicable safety regulations. The protective device should be able to be operated safely. The protective device is intended to enable rapid operation, that is to say high closing speeds, of the gate or of the door.

Furthermore, an advantageous use of a protective gate is to be specified within the scope of the present disclosure. Furthermore, a method for operating a protective device in the form of a protective door or a protective gate is to be specified within the scope of the present disclosure.

• ein Schließelement, insbesondere ein schnelllaufendes Schließelement, mit einer Schließkante, wobei das Schließelement in einer Schließebene zwischen einer geöffneten Stellung und einer geschlossenen Stellung verfahrbar ist,
• einen Antrieb zum Antreiben des Schließelements,
• eine Überwachungseinrichtung mit zumindest einer Sensoreinheit, die ein Vorfeld der Schließebene überwacht, um das Eindringen von Fremdobjekten in eine Sicherheitszone zu erfassen, und
• eine Steuereinrichtung, die dazu ausgebildet ist, den Antrieb auf Basis von Daten, die von der Überwachungseinrichtung bereitgestellt werden, in Abhängigkeit davon, ob sich ein erfasstes Fremdobjekt innerhalb der Sicherheitszone in einem ersten Abstandsbereich oder einem zweiten Abstandsbereich befindet, selektiv in einem ersten Betriebsmodus oder in einem zweiten Betriebsmodus zu betreiben.

With regard to the device, the object of the disclosure is achieved by a protective device in the form of a protective door or a protective gate for a system, in particular a production system, the protective device having the following:

• a closing element, in particular a fast-running closing element, with a closing edge, the closing element being movable in a closing plane between an open position and a closed position,
• a drive for driving the closing element,
• a monitoring device with at least one sensor unit that monitors an apron of the closing level in order to detect the intrusion of foreign objects into a security zone, and
• a control device that is designed to selectively drive the drive in a first operating mode or based on data that are provided by the monitoring device, depending on whether a detected foreign object is within a first distance area or a second distance area within the security zone to operate in a second operating mode.

The object of the invention is completely achieved in this way.

According to the invention, the control device now differentiates between at least two states in which there is a potential risk of collision. In the first distance range, which is for example a close range, a corresponding alarm is issued immediately, so that the door / door - more precisely the respective closing element - can stop and reverse quickly. In contrast, the closing element is not yet stopped or reversed in the second distance area, which is located upstream of the first distance area. Instead, it is conceivable to somewhat reduce the speed of the closing element closing, so that, for example, when the foreign object enters the first distance area, the closing element can still be stopped and reversed safely.

As an example, the first operating mode is assigned to the first distance range and the second operating mode is assigned to the second distance range. The first operating mode can accordingly be a reversing mode. The second mode of operation may accordingly be a reduced speed mode. It goes without saying that in addition to the first operating mode and the second operating mode, there can also be a normal operating mode (normal operating mode). The drive is operated when the closing element is closed in normal operating mode if no foreign object has been detected in the monitored security zone.

At least in exemplary embodiments, the monitoring of the closing element takes place primarily during the closing process of the protective device. In other words, at least in these exemplary embodiments, the monitoring device is not used for regular opening processes in normal operation of the protective device. Additional facilities are provided for this.

The monitoring device and the control device, at least in this form, form a safety device which is provided in addition to other control elements, sensors, interfaces and the like. It goes without saying that the control device can also be used to control other functions in addition to the safety function. However, it is also conceivable to provide a separate control device for the safety device, which is basically operable independently of other control elements.

The protective device is preferably used as a machine protection gate or machine protection door. The upstream connection of the second distance range enables, so to speak, an early detection of an impending collision without this necessarily leading to the stopping and reversing of the closing element. Nevertheless, there is a high level of security against pinching and against collisions.

When used as a machine protection gate or machine protection door, the protection device regularly monitors one side (usually the outside) of the two sides (inside, outside), which can be connected to one another by the protection device. It goes without saying that applications are also conceivable in which not only the outside but also the inside is monitored in order to detect movements or foreign objects in both directions.

It goes without saying that the closing element cannot only be moved between a fully open and a completely closed position. Intermediate positions are also conceivable.

At least in exemplary embodiments, additional security monitoring is provided in the locking level. This can be a light barrier or a light grid, for example. The light barrier / light grid can be designed on the basis of transmitters and receivers for visible light. Alternatively, however, the use of transmitters and receivers for invisible light (infrared light or the like) is also conceivable. Furthermore, designs of sensors are also conceivable that use laser beams for monitoring.

The use of a so-called blow bar at the closing edge of the door is also conceivable. A blow bar enables contact-based monitoring of the closing edge for collisions.

The closing level is generally the opening of the gate or door. It goes without saying that the closing level does not necessarily have to be completely level. Accordingly, "curved" closing planes are also conceivable.

The first operating mode and the second operating mode are regularly movement modes. In other words, at least in essential embodiments, it is provided that the closing element reverses as quickly as possible in the first operating mode, that is to say is opened again as quickly as possible. Accordingly, it is not just about stopping the closing element in a certain position. The second operating mode differs from a normal operating mode by a reduced closing speed / drive speed of the closing element.

The drive is preferably operated in the first operating mode and / or in the second operating mode depending on a current position (in particular the closing edge) of the closing element. Accordingly, if it is determined when a foreign object enters the second distance area that the door is still sufficiently wide open, it is possible to react differently than in a situation in which it is found that the closing element of the door is already moving more in the direction of the closed position has been.

For this evaluation, a current height or vertical position of the foreign object can be used and taken into account in particular in the case of a vertically closing gate. In the case of a horizontally closing gate (for example with two closing elements which can be moved towards one another), a width of the foreign object can accordingly be taken into account.

In this context, it is provided, at least in exemplary embodiments, that the monitoring device can detect not only the presence of a foreign object but, if possible, also further geometric information (height and / or width, etc.).

In an exemplary embodiment of the protective device, the first distance area is a near area, the second distance area being a far area. In exemplary embodiments, the close range can also include the closing plane, at least part of it. At least the vicinity of the closing plane is adjacent. The far area is further away from the closing level than the near area.

In a further exemplary embodiment of the protective device, dimensions of the first distance area and / or the second distance area are defined as a function of the current closing speed and / or a position of the closing element. As already indicated above, a height and / or width of the foreign object can also be taken into account for this. The control device can be set up for this purpose.

In other words, it is conceivable not only to determine a current distance between the foreign object and the locking level, but also to take the current position of the locking element into account. If the closing element (in the case of a vertically closing gate) is still high enough, the reaction can be different than in a case in which the closing element has already moved quite far down. The same applies to different opening states with horizontally closing gates. It is also conceivable to capture a motion vector of the foreign object. This can also be a determination of a component of the motion vector towards include the gate closing level. In this way it can be determined whether a collision or even a pinching can occur. If there is a certain danger, then knowledge of the movement data of the foreign object can be used to react appropriately.

Accordingly, a control algorithm can be optimized to minimize alarm times and false alarms as much as possible. One goal, for example, can be to make the first distance range (close range) as small as possible in order to minimize the occurrence of alarm states / false alarms.

In other words, a slow closing of the closing element is accepted rather than an "emergency situation" that leads to a reversal. The latter would result in significant downtime.

According to a further exemplary embodiment, the first operating mode is a stop and reversing mode. This primarily serves to avoid collisions or as protection against trapping.

According to a further exemplary embodiment, the control device is designed to move the closing element in the second operating mode at a reduced closing speed. In this way, alarms that lead to reversing are avoided. Nevertheless, the reduced closing speed creates reaction options in the event that the foreign object moves closer to the closing level. Nevertheless, productivity can be largely maintained.

According to a further exemplary embodiment of the protective device, the control device is designed to define the closing speed of the closing element in the second operating mode as a function of a detected speed of a foreign object. The detected speed of the foreign object can be a speed component in the direction of the closing element or in the direction of the closing plane. In other words, the closing speed of the closing element are selected such that the closing element can still safely reverse when the foreign object comes closer to the closing plane and penetrate into the first distance area (near area). Accordingly, the control device can be configured to at least approximately determine a motion vector of the foreign object on the basis of the sensor data provided by the monitoring device.

It goes without saying that safety factors can be taken into account in order to take account of unforeseen changes in speed and / or changes in direction of the foreign object when determining the closing speed in the second operating mode.

According to a further exemplary embodiment of the protective device, the control device is designed to define the closing speed of the closing element in the second operating mode as a function of a current position of the closing element. So if the "gap" between the closing edge of the closing element and the foreign object is still large enough, a slight delay (or no delay) of the closing speed of the closing element may be sufficient to prevent the foreign object from entering the near area (first Distance range) to be able to react.

In a further exemplary embodiment, the spacing areas are defined in relation to the closing edge of the closing element. If necessary, the movement (closing speed) of the closing element is also taken into account.

The spacing areas can be “disks” or “cuboids”, that is to say volumes that are defined in advance of the closing plane. However, it is also conceivable to define the distance areas using vertical planes, each of which represents a boundary between two areas.

It is also conceivable to define the distance ranges in relation to the situation. So it is conceivable for a captured foreign object depending on it Characteristics of defining an (individual) close range and an (individual) far range. This can happen depending on a detected position, shape and / or a movement vector of the foreign object. Furthermore, the distance areas can also be made dependent on the current position of the closing edge of the closing element. In other words, the distance ranges are not necessarily static.

Nevertheless, a more or less static definition of the distance areas is also conceivable. This can therefore include a fixed distance X from the closing plane for the first distance area and a fixed distance Y from the closing plane for the second distance area, the "depth" of the second distance area corresponding to the value of Y-X. Both spacing areas can be aligned essentially parallel to the closing plane.

According to a further exemplary embodiment of the protective device, it furthermore has a position determination unit for the closing element, in particular for the closing edge, the control device being designed to operate the drive for the closing element as a function of a position signal. This can be another safety device.

Such a position determination unit can on the one hand detect the current position (actual position) of the closing edge. A vertically closing gate is a current height. The determined position can be used by the control device in order to operate the drive for the closing element, in particular in the second operating mode, in such a way that false alarms, alarms and associated downtimes of the system are avoided. The determined position can also be used to define the distance ranges. The distance ranges can accordingly (if necessary additionally) be defined as a function of the actual position of the closing edge.

According to a further exemplary embodiment of the protective device, the position determination unit comprises a light curtain that passes through the closing element lockable locking level is monitored to determine the position of the locking element. In this way, an undesired intrusion of foreign objects into the locking plane can also be detected via the position determination unit. The position determination unit and the monitoring device for monitoring the security zone in front of the locking level can be combined in order to further increase operational security.

In alternative configurations, the position determination unit has rotary encoders or similar sensors which enable the position of the closing edge to be determined on the basis of drive information, for example on the basis of an angle of rotation of a drive shaft and / or a winding shaft for the closing element. In this way, the position of the closing edge can be determined indirectly - but nevertheless with sufficient accuracy.

According to a further exemplary embodiment of the protective device, the control device is also designed to stop and / or reverse the closing element on the basis of signals provided by the position determination unit when a foreign object is detected in a monitoring area of the position determination unit. This ensures (additional) pinch protection.

According to a further exemplary embodiment of the protective device, a blow bar, which has at least one contact sensor, is arranged on the closing edge of the closing element, and the control device is designed to stop or reverse the closing element when contact with a foreign object has been determined via the contact sensor , Such a blow bar requires physical contact with a foreign body in order to output a signal to reverse the gate. Nevertheless, the pinch protection can also be increased in this way.

According to a further exemplary embodiment of the protective device, the control device is designed to operate the drive based on data provided by the monitoring device, depending on whether there is a operated foreign object in a first distance range, a second distance range, or a third distance range, to operate selectively in a first operating mode, a second operating mode, or in a third operating mode.

In other words, it is conceivable to define not only two distance areas but three distance areas. Consequently, this can include a close-up area as well as a first far-range and a second far-range. The first long range is upstream of the short range. The second long-range area precedes the first long-range area. The third operating mode is assigned to the second long-range area (third distance area). The second operating mode is assigned to the first long-range area (second distance area). The first operating mode is assigned to the close range (first distance range).

The control device can now be designed to close the closing element at a speed which is reduced compared to the normal operating mode when a foreign object has been found in the third distance range. If it is determined that the foreign object penetrates into the second distance area, the control device can further reduce the closing speed of the closing element. If it is now determined that the foreign object also penetrates into the first distance area, the control device can reverse the drive in order to reverse the closing element.

It goes without saying that, according to a further exemplary embodiment, a type of characteristic map is provided instead of discrete distance areas with assigned operating modes, so that the closing speed is dependent on the distance of the foreign object (and possibly also on the basis of further values, for example the shape of the foreign object, the current position of the object) Closing edge, etc.) is adjusted continuously or quasi-continuously.

In other words, the number of spacing areas can be increased further in order to bring about a constant adjustment of the closing speed if necessary.

These designs are encompassed by core aspects of the present disclosure, since the spacing areas can be (small) sections from the “map”.

According to a further exemplary embodiment of the protective device, the at least one sensor unit of the monitoring device is designed as a laser scanner or image capture sensor, which is designed to monitor an apron of the closing plane, and wherein in an area monitored by the sensor unit, at least the first distance area and the second distance range is defined.

It is conceivable to use a laser scanner that monitors not only a level but an area or even a room. In this way, the sensor unit can be used to monitor several distance ranges and, if necessary, also to record information on the shape and / or the movement characteristics of the foreign object.

In addition to the use of laser-based sensors (such as laser scanners), the use of imaging sensors for image acquisition is also conceivable. Accordingly, the imaging sensor can be designed as a CCD camera, for example. The apron can be monitored in a similar way on the basis of image data. It is conceivable to combine several image acquisition sensors with one another in order to enable stereo acquisition or 3D acquisition. The image capturing by the at least one image capturing sensor can also include capturing image data outside the range which is usually visible to the human eye, that is to say in the infrared range. Infrared cameras can be combined with corresponding infrared emitters. In this way, monitoring based on the acquisition and evaluation of image data can also be ensured if the lighting conditions are unfavorable for the human eye or for image acquisition sensors that operate in the visible spectral range.

Furthermore, the use of radar sensors or so-called lidar sensors for monitoring the apron by the sensor unit is also conceivable. In general, sensors of different types can also be combined with one another, such as laser sensors and image acquisition sensors, in order to increase the informative value of the monitoring.

It is conceivable to provide one or more sensors. It is also conceivable to assign a sensor to each distance range. However, it is preferred to provide one or more sensors that monitor the security zone, the division into distance areas being done by software.

In particular with a vertically closing gate, it is conceivable to arrange the sensor in the area of an upper cross member and / or to the side thereof. Accordingly, the sensor would look down from above with such a design. If the sensor were arranged on the side, it would look obliquely from above to below.

According to a further exemplary embodiment of the protective device, a size of the first distance area and / or the second distance area can be varied, the control device being designed to adapt the distance areas occasionally depending on a state parameter of the closing element and / or a state parameter of the foreign object.

State parameters of the closing element can relate to the closing speed or the current position (actual position). State parameters of the foreign object can relate to the current position (distance, horizontal position, vertical position), shape (height, width) and speed (motion vector and components thereof).

The use regarding the object of the disclosure is achieved by using a protective device according to at least one embodiment described herein solved as a door or gate for an enclosure of a machine or system, in particular for closing an assembly opening or access opening.

• Bereitstellung einer Überwachungseinrichtung mit zumindest einer Sensoreinheit, die ein Vorfeld der Schließebene überwacht, um das Eindringen von Fremdobjekten in eine Sicherheitszone zu erfassen,
• Erfassung und Verarbeitung von Daten, die durch die Überwachungseinrichtung bereitgestellt werden,
• Betreiben eines Antriebs für das Schließelement in einem ersten Betriebsmodus, wenn sich ein erfasstes Fremdobjekt innerhalb der Sicherheitszone in einem ersten Abstandsbereich befindet, und
• Betreiben des Antriebs für das Schließelement in einem zweiten Betriebsmodus, wenn sich das erfasste Fremdobjekt innerhalb der Sicherheitszone in einem zweiten Abstandsbereich befindet.

The method relating to the object of the disclosure is achieved by a method for operating a protective device in the form of a protective door or a protective gate for a system, in particular a production system, the protective device having a closing element, in particular a fast-running closing element, with a closing edge, the Closing element can be moved in a closing plane between an open position and a closed position, the method comprising the following steps:

• Providing a monitoring device with at least one sensor unit, which monitors an apron of the closing level in order to detect the intrusion of foreign objects into a security zone,
• Collection and processing of data provided by the monitoring device
• Operating a drive for the closing element in a first operating mode if a detected foreign object is within a first distance range within the security zone, and
• Operating the drive for the closing element in a second operating mode if the detected foreign object is within a second distance range within the security zone.

Monitoring is carried out, for example, in relation to a closing edge of a closing element. Accordingly, the drive is operated in the first operating mode and / or in the second operating mode as a function of an actual position of the closing edge and / or an actual speed of the closing element

The method may be performed using a protection device in accordance with at least one of the embodiments shown herein. Vice versa the protective device is designed, at least in exemplary embodiments, to be operated on the basis of the method.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own without departing from the scope of the present disclosure.

Fig. 1

eine perspektivische Ansicht einer beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Schutztores;

Fig. 2

eine perspektivische Ansicht einer weiteren beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Schutztores;

Fig. 3

eine schematische, stark vereinfachte Schnittansicht zur Veranschaulichung einer weiteren beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Schutztores;

Fig. 4

eine schematische, stark vereinfachte Schnittansicht zur Veranschaulichung einer weiteren beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Schutztores;

Fig. 5

ein schematisches Blockdiagramm zur Veranschaulichung einer beispielhaften Ausführungsform eines Verfahrens zum Betreiben einer Schutzvorrichtung; und

Fig. 6

ein schematisches Blockdiagramm zur Veranschaulichung einer weiteren beispielhaften Ausführungsform eines Verfahrens zum Betreiben einer Schutzvorrichtung.

Further features and advantages of the invention result from the following description and explanation of several exemplary embodiments with reference to the drawings. Show it:

Fig. 1

a perspective view of an exemplary embodiment of a protective device in the form of a protective gate;

Fig. 2

a perspective view of another exemplary embodiment of a protective device in the form of a protective gate;

Fig. 3

is a schematic, greatly simplified sectional view illustrating a further exemplary embodiment of a protective device in the form of a protective gate;

Fig. 4

is a schematic, greatly simplified sectional view illustrating a further exemplary embodiment of a protective device in the form of a protective gate;

Fig. 5

is a schematic block diagram illustrating an exemplary embodiment of a method for operating a protective device; and

Fig. 6

is a schematic block diagram illustrating a further exemplary embodiment of a method for operating a protective device.

Fig. 1 uses a perspective frontal view of an exemplary embodiment to illustrate a protective device, designated overall by 10. The protective device 10 is designed, for example, as a machine protective gate or protective gate 12. For example, the protective gate 12 serves to enable controlled access to a system 14. When the protective gate 12 is closed, the system 14 is not accessible. This can be desirable from a safety point of view when the system 14 is in operation. However, this is not to be understood as restrictive.

The system 14 can be a production system, for example. Other embodiments are conceivable. In general, the protective gate 12 can also be designated and designed as an industrial gate. At least in exemplary embodiments, the protective gate 12 is a so-called high-speed protective gate. High-speed protective gates are, within the scope of the present disclosure, protective gates with closing speeds greater than 0.5 m / s. This should also not be understood as restrictive.

The protective device 10 comprises a closing level 18, which can also be referred to as an opening or access opening. In the in Fig. 1 The exemplary embodiment shown is the closing level 18 by (side) posts 20, 22 and by a crossbar 24 (in Fig. 1 only shown in broken lines).

The protective device 10 comprises a closing element 26, which in the in Fig. 1 embodiment shown is designed as a track. Such webs are regularly flexible and can be wound up. The closing element 26 includes a closing edge 28 that defines one end of the closing element 26.

In the in 1 to 4 In the embodiments shown, the gates / doors are designed as vertically closing / vertically running protective devices. Accordingly, the closing element 26 closes the closing plane 18 from top to bottom. In the closed state, the closing edge 28 is accordingly adjacent to the bottom 32. The closing edge 28 extends in a horizontal direction. There may also be contact between the closing edge 28 and the bottom 32. in principle however, protective devices with horizontally closing closing elements are also conceivable. In the case of such protective devices, the closing edge of the closing element would be oriented vertically and aligned approximately parallel to one of the (side) posts.

A drive 38 is provided for driving the closing element 26. The drive 38 comprises a motor. It is also conceivable to provide a gear for reduction / translation. The drive 38 is in the Fig. 1 Embodiment shown coupled to a winding shaft 40. The drive 38 rotates the winding shaft 40 in order to selectively wind up or unwind the closing element 26. In this way, the protective device 10 can be opened or closed.

In Fig. 1 the closing movement of the closing element 26 is indicated by an arrow labeled 44. A double arrow denoted by 46 illustrates an actual opening or an actual position of the closing edge 28 / of the closing element 26. The opening 46 released by the closing element 26 changes continuously when the closing element 26 is moved. In this way, the closing element 26 can be moved between a fully closed and a partially or fully open position.

A control device 50 is provided to control the drive 38 and other functions of the protective device 10. The control device 50 can be a central or a distributed control device. The control device 50 in the present example also serves to control safety functions and monitoring functions of the protective device 10.

In Fig. 1 a position determination unit 54 is indicated - again by dashed lines. The position determination unit 54 includes, for example, a light grid 56. A dashed arrow designated 58 illustrates a light beam. The light grid 56 is suitably provided with transmitters and receivers. The light grid 56 can be used on the one hand to determine a current position of the closing element 26 or of its closing edge 28. Furthermore, the light grid 56 can also be used to detect foreign objects in the closing plane 18. The However, light grid 56 is not suitable for monitoring an apron / an apron area of the protective device 10. In other words, the light grid 56 cannot be used to detect objects before they have actually entered the closing plane 18.

In alternative configurations, the position determination unit 54 uses signals that are provided by sensors / rotary encoders and similar elements that are assigned to the drive 38 or the winding shaft 40 for the closing element 26. The current position of the closing edge 28 can thus be determined indirectly from the number of revolutions or from the angle of rotation of the winding shaft 40.

Furthermore, a monitoring device 64 is provided, which comprises a sensor unit 66. In the in Fig. 1 In the embodiment shown, the sensor unit 66 has a laser scanner 68. In Fig. 1 a field of view 70 of the laser scanner 68 is only indicated as an example by dashed lines. Overall, the monitoring device 64 is designed to monitor an apron 72 of the closing level 18 or the protective device 10. As already stated above, the sensor unit 66 can alternatively also be designed as a radar sensor, lidar sensor or as an image sensor. Combinations of different sensor types are possible.

With reference to Fig. 2 Another exemplary embodiment of a protective device 110 in the form of a protective gate 112 is illustrated. The protection device 10 according to Fig. 1 and protection device 110 according to Fig. 2 are basically similar. The following detailed descriptions therefore also apply to the embodiment of the protective device 10 according to FIG Fig. 1 , and vice versa.

The protective device 110 has a closing plane 118, which is defined by posts 120, 122 and a crossbar 124. The protective device 110 is also provided with a closing element 126, which is formed, for example, from a plurality of segments which can be pivoted relative to one another. Accordingly, the protective device 110 can also be referred to as a segment gate. The execution of the closing element 126 as a segmented door leaf and the design of the closing element 26 (cf. Fig. 1 ) as a train are only to be understood as exemplary and not restrictive.

The closing element 126 has a closing edge 128. The protective device 110 is designed as a vertically closing protective device. Accordingly, the closing edge 128 is arranged on an underside of the closing element 126. As an example, the closing edge 128 is designed as a so-called blow bar. According to this embodiment, the closing edge 128 is provided with at least one contact sensor 130. It goes without saying that the protective device 110 can also be provided with a position determining unit for determining a current position of the closing edge 128 of the closing element 126 (compare the design of the position determining unit 54 in FIG Fig. 1 ). The position can be determined via light grids, rotary encoders and similar sensors.

Furthermore, in Fig. 2 indicated by 138 a drive for the closing element 126. The drive 138 acts on the closing element 126 in order to selectively open or close it. In Fig. 2 a closing direction is designated 144. Furthermore, a double arrow denoted by 146 indicates an actual opening in the closing plane 118 of the protective device 110.

By designing the closing edge 128 as a blow bar, a safety function is implemented, in particular a pinch protection. If a foreign object is arranged in the opening 146 and is contacted by the closing edge 128 when the protective device 110 is closed, the contact sensors 130 trigger and the drive 138 can be controlled accordingly in order to quickly reverse the closing element 126.

Also in Fig. 2 a control device 150 is provided to control the operation and safety elements of the protective device 110. As already indicated above, it is also conceivable to provide separate control devices for safety-relevant functions for reasons of redundancy.

The protective device 110 is provided with a monitoring device 164 which corresponds to the monitoring device 64 of the protective device 10 Fig. 1 is at least similar. The monitoring device 164 is also provided with a sensor unit 166. As an example, the sensor unit 166 is designed as a laser scanner 168. Other types of sensors are conceivable. A field of view 170 of the sensor unit 166 is shown in FIG Fig. 2 indicated by dashed lines. The field of view 170 of the sensor unit 166 is designed to monitor an apron 172 of the protective device 110.

A comparison of the configurations according to Fig. 1 and Fig. 2 shows that in Fig. 1 the sensor unit 66 is arranged on the side and looks at the apron 72 from “obliquely above”. In Fig. 2 the sensor unit 166 is arranged "in the top center". Both variants are basically conceivable. The designs are also in this respect Fig. 1 and Fig. 2 not to be understood as restrictive. As an example, the sensor unit 166 is accommodated on the crossbar 124. However, it is also conceivable to arrange the sensor unit 166 spatially separated / spaced therefrom on a wall and / or ceiling in the vicinity of the protective device 110.

A security zone 176 is defined in advance 172, which can monitor the at least one sensor unit 166. For example, the security zone 176 is divided into a first distance area 178 and a second distance area 180. The first distance area 178 can also be referred to as the near area. The second distance area 180 can also be referred to as the far area.

The first distance area 178 defines a near zone 186. The second distance area 180 defines a far zone 188. The near zone 186 is adjacent to the closing plane 118. It is also conceivable to align the sensor unit 166 in such a way that the near zone 186 also includes the closing plane 118. The far zone 188 is spaced further from the closing plane 118 than the near zone 186.

At least in exemplary embodiments, the present disclosure pursues the approach of monitoring both distance areas 178, 180 or both zones 186, 188 in order to be able to determine the presence of foreign objects there. ever After whether a foreign object has now been detected in the first distance range or the second distance range, the drive 138 can be acted on differently in order to selectively control the closing element 118. In this way, it is generally possible to react more flexibly to impending collisions and / or the risk of getting caught.

In Fig. 2 foreign objects 194, 196, 198 are indicated for the purposes of illustration. The foreign objects can in principle also be people. The monitoring device 164 with the sensor unit 166 is preferably designed not only to detect the presence of the foreign objects 194, 196, 198, but also other features such as the direction of movement, speed and the shape / size of the foreign objects 194, 196, 198.

A conceivable movement of the foreign object 194 is indicated by a speed vector 200. Accordingly, it can be assumed that the foreign object 194 approaches the closing plane 118 vertically or almost perpendicularly at a certain speed. If the foreign object 194 penetrates into the (second) distance area 180 while the closing element 126 is being closed, a pre-alarm can first be output. In response to this, the closing speed of the closing element 126 can be reduced, for example. In this way it can be ensured that the closing element 126 can be safely stopped and reversed if the foreign object 194 should also penetrate into the (first) distance area 178, that is to say into the near zone 186.

The movement of the foreign object 196 is characterized by a speed vector 202. Accordingly, the foreign object 196 also moves in parallel or substantially parallel to the closing plane 118 of the protective device 110. In addition, in Fig. 2 A current arrow (height) of the foreign object 196 is indicated by a double arrow labeled 204. Such information can also be used by the control device 150 in order to control the drive 138 for the closing element 126 on a case-by-case basis. A main objective of the monitoring is to prevent collisions and / or jamming of the foreign objects 194, 196, 198 with / on the closing element 126. In this respect, the height of the foreign object 196 is of interest since a current position of the closing edge 128 of the closing element 126 can be compared.

The movement of the foreign object 198 is illustrated by a speed vector 206. The foreign object 198 also moves towards the closing plane 118 of the protective device 110, but not at right angles or essentially at right angles to it. However, the speed vector 206 has a component 208 which illustrates a speed amount perpendicular to the closing plane 118. These values can also be recorded by the monitoring device 164 and processed accordingly by the control device 150 in order to control the drive 138 in a specific manner when the foreign object 198 penetrates the second distance area 180 and / or the first distance area 178.

With reference to 3 and 4 Further exemplary configurations of protective devices 210, 310 in the form of protective gates 212, 312 are illustrated. 3 and 4 show schematic, highly simplified sections perpendicular to the respective closing plane 218, 318. For the basic structural design of the protective devices 210, 310, reference is made to the in FIGS Figures 1 and 2 Illustrated designs of the protective devices 10 and 110 referenced.

Both protective devices 210, 310 have closing elements 226, 326, which can be moved in the closing plane 218, 318 between an open and a closed position. Furthermore, a position determination unit is indicated with 254, 354, which includes, for example, a light grid 256, 356 with transmitters 260, 360 and / or receivers 262, 362. In this way, a current position (corresponding to the respective actual opening 246, 346) of a closing edge 228, 328 of the closing element 226, 326 can be determined and monitored.

In addition, the protective devices 210, 310 each have a monitoring device 264, 364, each of which is provided with at least one sensor unit 266, 366. The respective sensor unit 266, 366 is preferably a laser scanner which is designed for two-dimensional and / or for three-dimensional monitoring of an apron 272, 372 of the protective device.

In the exemplary embodiment according to Fig. 3 A first distance area 278 and a second distance area 280 are defined in advance 272, which together form a safety zone 276. In the event of the intrusion of a foreign object 296, it is consequently not only possible to detect whether the foreign object 296 is entering the safety zone 276 (compare the motion vector / speed vector 302), but also whether the foreign object 296 is entering the first distance area 278 or the second distance area 280. For example, moving the foreign object 296 into the (outer) second distance region 280 can initially lead to the closing element 226 initially being driven further in order to close the protective device 210, but at a reduced closing speed. If the foreign object 296 then penetrates into the (inner) first distance region 278, the closing element 226 can be stopped abruptly and opened again (reversed).

Furthermore, it is conceivable that a current height 304 of the foreign object 296 is also detected by the monitoring device 264. The height 304 of the foreign object 296 can be related to the actual position 246 of the closing edge 228 of the closing element 226. In this way, the operability of the protective device 210 can be maintained for a long time without this leading to compromises in the protection against collisions and / or jamming.

In the initial example according to Fig. 4 A first distance area 378, a second distance area 380 and a third distance area 382 are defined in advance 372, which together form a safety zone 376. In the event of the intrusion of a foreign object 396, it is consequently not only possible to determine whether the foreign object 396 is entering the safety zone 376 (compare the motion vector / speed vector 402), but also whether the foreign object 396 is in the first distance area 378, the second distance area 380, or retracts the third distance area 382.

For example, moving the foreign object 296 into the (outer) third distance region 382 can initially lead to the closing element 326 being driven further in order to close the protective device 310, but at a reduced closing speed. If the foreign object 396 penetrates into the distance region 380 (in this exemplary embodiment middle), the closing element 326 can initially be driven at an even further reduced closing speed. Only when the foreign object 396 enters the (inner) first distance region 378 can the closing element 326 be stopped abruptly and opened again (reversed).

In this way, the operational condition of the protection device 310 can be maintained for a long time. False alarms can be avoided. Instead, there are pre-alarms in the second distance area 380 and in the third distance area 382, which are initially used to delay the closing speed of the closing element 326.

It is also conceivable that a current height 404 of the foreign object 396 is also detected by the monitoring device 364. The height 404 of the foreign object 396 can be related to the actual position 346 of the closing edge 328 of the closing element 326. In this way, the operability of the protective device 310 can be maintained for a long time without this leading to compromises in the protection against collisions and / or jamming.

With reference to Fig. 5 an embodiment of a method for operating a protective device is illustrated using a schematic block diagram. The protective device is in particular a protective door or a protective gate. In exemplary embodiments, the protective device is a machine protection gate or a machine protection door. Such protective devices are usually provided with motor-driven closing elements.

The method comprises a step S10, which relates to the provision of a monitoring device. The monitoring device is an example a laser scanner monitoring device. The monitoring device or its sensor unit is installed in such a way that an apron of a closing level of the protective device can be monitored. The closing element can be moved in the closing plane in order to open or close an opening.

A further step S12 relates to an execution of a closing operation of the protective device. For this purpose it is initially provided that the closing element is closed at a certain closing speed. In other words, a drive for the closing element is controlled accordingly. At least in exemplary embodiments, the monitoring device serves primarily to monitor the closing process. If the closing element is closed, there is basically the risk of getting caught or of collisions between foreign objects and the closing element.

Step S12 is consequently linked to step S14, which relates to monitoring the closing process. The monitoring is carried out, for example, with a monitoring device which has at least one sensor unit in the form of a laser scanner. Alternatively, the at least one sensor unit can have an imaging sensor (video camera). Other types of sensors for monitoring are conceivable. In this way, an apron of the monitoring device can be monitored. For this purpose, a security zone can be defined in advance, which includes, for example, a first distance range (close range) and a second distance range (far range). As already explained above, it is also conceivable to define three or even more areas in the security zone.

The monitoring device is designed to detect the intrusion of foreign objects into the security zone and to output corresponding signals. At least in exemplary embodiments, the monitoring device is also designed to acquire further information relating to the foreign objects. This can relate to a position, speed, shape, size, height, etc. of the foreign objects.

The monitoring follows an algorithm which comprises a step S16. Step S16 is a decision step. In step S16, it is checked whether or not a foreign object has been detected in the security zone. If no object has been detected, the monitoring can be continued, step S14.

If an object has been detected in the security zone, a step S18 follows the step S16. Step S18 is also a decision step. In step S18, it is checked whether the detected object is in the security zone in the first distance range (close range) or in the second distance range (far range).

If it has now been determined that the detected object is in the far range (second distance range), a step S20 follows in which operating parameters are defined for a corresponding (second) operating mode. In this second operating mode, there is a feedback / return to step S12, whereupon the drive is controlled such that the closing element is closed at a reduced closing speed.

In this way, an alarm situation is avoided, which could lead to a loss of production at least for a short time, since the safety device would be put out of operation for a short time. Instead, there is a kind of pre-alarm, whereby the protective device remains operational. Due to the reduced closing speed, it is still possible to react if the foreign object penetrates into the vicinity.

If, instead, it is determined during the monitoring that the detected object is in the close range (first distance range) or penetrates into the close range starting from the far range, then an alarm condition actually exists since there is a risk of a collision or jamming. A step S22 follows, which relates to operating the drive for the closing element in a first operating mode. The drive is controlled in such a way that the closing element is stopped and reversed abruptly. This takes place in a step S24 which follows the step S22.

It goes without saying that in addition to the first operating mode and the second operating mode, there is also a normal operating mode or a normal closing operating mode. The normal operating mode is the operating mode of the drive for the closing element if no object has been detected in the security zone.

The method can be used using a protective device according to one of the exemplary embodiments described herein.

With reference to Fig. 6 an exemplary embodiment of an algorithm that can be used in a method for operating a protective device is illustrated with the aid of a schematic block diagram.

The method comprises an initial step S50, which denotes a start. A step S52 follows in which a mode, in particular an operating mode for driving a closing element of a protective device, is selected. Together with the selection of the mode, a closing speed for the closing element is selected, at least in exemplary embodiments. The algorithm usually starts with a normal operating mode, combined with a (high) normal closing speed for the closing element.

The closing element is closed on the basis of the selected operating mode, position monitoring taking place in a step S54. This can relate in particular to monitoring a position of a closing edge of the closing element. For this purpose, a position determination unit is provided as an example, for example in the form of a light grid, which is assigned to a closing level of the protective device.

A parallel step S56 relates to the monitoring of an apron of the protective device. As already stated above, there is at least a first distance area and a second distance area (near area and far area) in advance. The surveillance aims to detect the presence or intrusion of To detect foreign objects in a security zone, which is defined by the first distance area and the second distance area.

In other words, monitoring takes place both in step S54 and in step S56. The monitoring in step S54 can also be used, for example, if a light curtain is used for monitoring, to detect the presence or the intrusion of foreign objects into the locking level.

If the monitoring step S56 does not report an intruding foreign object, the closing element is closed until an end stop is detected in a step S58. In this way it can be detected that the protective device is completely closed. This is followed by a step S60, which represents an end to the closing process or the algorithm.

Step S56 is followed directly or indirectly by a step S64, which can also be referred to as a decision step. In exemplary embodiments - illustrated by dashed lines - steps S56 and S64 are interposed with an optional intermediate step S62. The step S62 relates to a definition of areas / parameters as a function of a position of the closing element or the closing edge of the closing element detected in step S54. In this way, threshold values, parameter ranges and the like can be defined. It is also conceivable to adapt the cut or the definition of the near area and the far area to a detected actual position. In other words, it is not fundamentally excluded that the areas in the security zone are variable.

On the basis of a parameter set adapted in this way or on the basis of a fixed parameter set, it is checked in a further step S64 whether or not a foreign object has been detected in the security zone. If no object has been detected, the closing process and the monitoring of the apron (step S56) can be continued.

However, if the presence / penetration of a foreign object was detected in step S64, a subsequent step S66 asks whether the foreign object was detected in a first distance range or a second distance range. If the object was detected in a second distance range (far range), a corresponding feedback and adaptation of the operating mode takes place in step S52. This includes in particular an adjustment (reduction) in the closing speed. This is done for the sake of caution, to reduce the risk of collisions and to maintain the operability of the protective device.

However, if it was determined in step S66 that the foreign object is in the first distance range (close range), the closing element is abruptly stopped in a subsequent step S68 and operated in opposite directions (reversed). In this way, collisions and / or jamming should be avoided. In such a case, an alarm signal can also be generated and output. This is followed by a step S70 in which the method is ended. As a rule, it is then necessary to carry out research into the causes and / or to remove foreign objects.

Claims (15)

Protective device (10, 110, 210, 310) in the form of a protective door or gate (12) for a system (14), in particular a production system, the protective device (10, 110, 210, 310) having the following: - A closing element (26, 126, 226, 326), in particular a fast-running closing element (26, 126, 226, 326), with a closing edge (28, 128, 228, 328), the closing element (26, 126, 226, 326) can be moved in a closing plane (18) between an open position and a closed position, a drive (38, 138) for driving the closing element (26, 126, 226, 326), - A monitoring device (64, 164, 264, 364) with at least one sensor unit (66, 166, 266, 366), which monitors an apron (72) of the closing level (18) to prevent the penetration of foreign objects (194, 196, 198 , 296, 396) in a security zone (176, 276, 376), and - A control device (50, 150), which is designed to control the drive (38, 138) based on data provided by the monitoring device, depending on whether there is a detected foreign object (194, 196, 198, 296 , 396) within the security zone (176, 276, 376) in a first distance area (178, 278, 378) or a second distance area (180, 280, 380), to operate selectively in a first operating mode or in a second operating mode. The protection device (10, 110, 210, 310) of claim 1, wherein the first distance area (178, 278, 378) is a near area, and wherein the second distance area (180, 280, 380) is a far area. Protection device (10, 110, 210, 310) according to claim 1 or 2, wherein dimensions of the first distance area (178, 278, 378) and / or the second distance area (180, 280, 380) depending on the current closing speed and / or one Position of the closing element (26, 126, 226, 326) are defined. Protection device (10, 110, 210, 310) according to one of claims 1 to 3, wherein the first operating mode is a stop and reverse mode. Protective device (10, 110, 210, 310) according to one of claims 1 to 4, wherein the control device (50, 150) is designed to move the closing element (26, 126, 226, 326) in the second operating mode with a reduced closing speed. Protection device (10, 110, 210, 310) according to any one of claims 1 to 5, wherein the control device (50, 150) is designed to the closing speed of the closing element (26, 126, 226, 326) in the second operating mode depending on a Define detected speed of a foreign object (194, 196, 198, 296, 396). Protection device (10, 110, 210, 310) according to any one of claims 1 to 6, wherein the control device (50, 150) is designed to, the closing speed of the closing element (26, 126, 226, 326) in dependence on a to define the current position of the closing element (26, 126, 226, 326). Protection device (10, 110, 210, 310) according to one of claims 1 to 7, further comprising a position determination unit (54, 254, 354) for the closing element (26, 126, 226, 326), in particular for the closing edge (28, 128 , 228, 328), the control device (50, 150) being designed to operate the drive (38, 138) for the closing element (26, 126, 226, 326) as a function of a position signal. Protective device (10, 110, 210, 310) according to claim 8, wherein the position determination unit (54, 254, 354) comprises a light curtain (56, 256, 356) which can be closed by the closing element (26, 126, 226, 326) Closing level (18) monitored to determine the position of the closing element (26, 126, 226, 326). Protection device (10, 110, 210, 310) according to claim 8 or 9, wherein the control device (50, 150) is further configured, based on signals provided by the position determining unit (54, 254, 354), the closing element (26 , 126, 226, 326) to stop and / or reverse if a foreign object (194, 196, 198, 296, 396) is detected in a monitoring area of the position determination unit (54, 254, 354). Protective device (10, 110, 210, 310) according to one of claims 1 to 10, wherein the control device (50, 150) is designed to drive (38, 138) based on data from the monitoring device (64, 164 , 264, 364) are provided, depending on whether a detected foreign object (194, 196, 198, 296, 396) is in a first distance area (178, 278, 378), a second distance area (180, 280, 380) , or a third distance range (382), to operate selectively in a first operating mode, a second operating mode, or in a third operating mode. Protective device (10, 110, 210, 310) according to one of claims 1 to 11, wherein the at least one sensor unit (66, 166, 266, 366) of the monitoring device (64, 164, 264, 364) as a laser scanner (68, 168) or image capture sensor, which is designed to monitor the apron (72) of the closing plane (18), and at least in an area monitored by the sensor unit (66, 166, 266, 366) by the control device (50, 150) the first distance range (178, 278, 378) and the second distance range (180, 280, 380) are defined. Protection device (10, 110, 210, 310) according to one of claims 1 to 12, a size of the first distance area (178, 278, 378) and / or the second distance area (180, 280, 380) is variable, and wherein the control device (50, 150) is designed to adapt the distance ranges depending on a state parameter of the closing element (26, 126, 226, 326) and / or a state parameter of the foreign object (194, 196, 198, 296, 396). Use of a protective device (10, 110, 210, 310) according to one of claims 1 to 13 as a door or gate (12) for housing a machine or system (14), in particular for closing an assembly opening or access opening. Method for operating a protective device (10, 110, 210, 310) in the form of a protective door or gate (12) for a system (14), in particular a production system, the protective device (10, 110, 210, 310) being a closing element ( 26, 126, 226, 326), in particular a fast-running closing element (26, 126, 226, 326), with a closing edge (28, 128, 228, 328), the closing element (26, 126, 226, 326) in a closing plane (18) can be moved between an open position and a closed position, the method comprising the following steps: - Providing a monitoring device (64, 164, 264, 364) with at least one sensor unit (66, 166, 266, 366) which monitors an apron (72) of the closing level in order to prevent the penetration of foreign objects (194, 196, 198, 296 , 396) in a security zone (176, 276, 376), - Collection and processing of data provided by the monitoring device (64, 164, 264, 364), - Operating a drive (38, 138) for the closing element (26, 126, 226, 326) in a first operating mode if a detected foreign object (194, 196, 198, 296, 396) is within the security zone (176, 276, 376) is in a first distance range (178, 278, 378), and - Operating the drive (38, 138) for the closing element (26, 126, 226, 326) in a second operating mode if the detected foreign object (194, 196, 198, 296, 396) is within the security zone (176, 276, 376) is located in a second distance range (180, 280, 380).

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