EP3584400A1 - Porte de protection et procédé de fonctionnement d'une porte de protection - Google Patents

Porte de protection et procédé de fonctionnement d'une porte de protection Download PDF

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Publication number
EP3584400A1
EP3584400A1 EP19180611.6A EP19180611A EP3584400A1 EP 3584400 A1 EP3584400 A1 EP 3584400A1 EP 19180611 A EP19180611 A EP 19180611A EP 3584400 A1 EP3584400 A1 EP 3584400A1
Authority
EP
European Patent Office
Prior art keywords
closing
closing element
operating mode
distance
protective
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19180611.6A
Other languages
German (de)
English (en)
Other versions
EP3584400B1 (fr
Inventor
Hans-Jürgen Dressler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ITW Industrietore GmbH
Original Assignee
ITW Industrietore GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ITW Industrietore GmbH filed Critical ITW Industrietore GmbH
Publication of EP3584400A1 publication Critical patent/EP3584400A1/fr
Application granted granted Critical
Publication of EP3584400B1 publication Critical patent/EP3584400B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E06B9/68—Operating devices or mechanisms, e.g. with electric drive
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E06B9/80—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling
    • E06B9/82—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling automatic
    • E06B9/88—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling automatic for limiting unrolling
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/44—Detection using safety edges responsive to changes in electrical conductivity
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/32—Position control, detection or monitoring
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements
    • E05Y2400/53—Wing impact prevention or reduction
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/11—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for industrial buildings
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E06B9/68—Operating devices or mechanisms, e.g. with electric drive
    • E06B2009/6809—Control
    • E06B2009/6818—Control using sensors
    • E06B2009/6836—Control using sensors sensing obstacle
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E06B9/68—Operating devices or mechanisms, e.g. with electric drive
    • E06B2009/6809—Control
    • E06B2009/6818—Control using sensors
    • E06B2009/6845—Control using sensors sensing position
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
    • E06B9/00—Screening or protective devices for wall or similar openings, with or without operating or securing mechanisms; Closures of similar construction
    • E06B9/56—Operating, guiding or securing devices or arrangements for roll-type closures; Spring drums; Tape drums; Counterweighting arrangements therefor
    • E06B9/80—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling
    • E06B9/82—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling automatic
    • E06B9/88—Safety measures against dropping or unauthorised opening; Braking or immobilising devices; Devices for limiting unrolling automatic for limiting unrolling
    • E06B2009/885—Braking mechanism activated by the bottom bar

Definitions

  • the present disclosure relates to a protective device in the form of a protective door or gate.
  • 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.
  • 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.
  • the present disclosure relates at least in exemplary embodiments to so-called industrial gates, that is to say gates for industrial use.
  • a gate can have a width of 2.50 m and a height of 3 m.
  • 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.
  • the closing elements 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.
  • 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.
  • 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.
  • a protective gate is to be specified within the scope of the present disclosure.
  • 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.
  • the control device now differentiates between at least two states in which there is a potential risk of collision.
  • 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.
  • 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.
  • 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.
  • the monitoring of the closing element takes place primarily during the closing process of the protective device.
  • 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 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.
  • the protection device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a width of the foreign object can accordingly be taken into account.
  • 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.).
  • the first distance area is a near area, the second distance area being a far area.
  • 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.
  • 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.
  • 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.
  • the first operating mode is a stop and reversing mode. This primarily serves to avoid collisions or as protection against trapping.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • disks or “cuboids”, that is to say volumes that are defined in advance of the closing plane.
  • vertical planes each of which represents a boundary between two areas.
  • 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.
  • the protective device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 ,
  • 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.
  • 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.
  • 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.
  • 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.
  • the number of spacing areas can be increased further in order to bring about a constant adjustment of the closing speed if necessary.
  • spacing areas can be (small) sections from the “map”.
  • 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.
  • 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.
  • 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.
  • radar sensors or so-called lidar sensors for monitoring the apron by the sensor unit is also conceivable.
  • 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.
  • the senor 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.
  • 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).
  • 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.
  • 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.
  • the protective device is designed, at least in exemplary embodiments, to be operated on the basis of the method.
  • 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.
  • the protective gate 12 serves to enable controlled access to a system 14.
  • the system 14 is not accessible. This can be desirable from a safety point of view when the system 14 is in operation.
  • this is not to be understood as restrictive.
  • the system 14 can be a production system, for example. Other embodiments are conceivable.
  • 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.
  • a closing level 18 which can also be referred to as an opening or access opening.
  • 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.
  • 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.
  • 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.
  • 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.
  • the light grid 56 can also be used to detect foreign objects in the closing plane 18.
  • 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.
  • 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.
  • a monitoring device 64 which comprises a sensor unit 66.
  • the sensor unit 66 has a laser scanner 68.
  • a field of view 70 of the laser scanner 68 is only indicated as an example by dashed lines.
  • the monitoring device 64 is designed to monitor an apron 72 of the closing level 18 or the protective device 10.
  • 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.
  • 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.
  • a drive for the closing element 126 in order to selectively open or close it.
  • a closing direction is designated 144.
  • a double arrow denoted by 146 indicates an actual opening in the closing plane 118 of the protective device 110.
  • 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.
  • a control device 150 is provided to control the operation and safety elements of the protective device 110.
  • a control device 150 is provided to control the operation and safety elements of the protective device 110.
  • 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.
  • 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.
  • FIG. 1 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the speed vector 206 has a component 208 which illustrates a speed amount perpendicular to the closing plane 118.
  • 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.
  • 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.
  • 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.
  • 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.
  • a first distance area 278 and a second distance area 280 are defined in advance 272, which together form a safety zone 276.
  • 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).
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the protective device is in particular a protective door or a protective gate.
  • 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.
  • the closing element is closed at a certain closing speed.
  • a drive for the closing element is controlled accordingly.
  • 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.
  • the at least one sensor unit can have an imaging sensor (video camera).
  • Other types of sensors for monitoring are conceivable.
  • an apron of the monitoring device can be monitored.
  • 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.
  • 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.
  • 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).
  • step S20 follows in which operating parameters are defined for a corresponding (second) operating mode.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step S56 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.
  • a step S64 which can also be referred to as a decision step.
  • 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.
  • step S64 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.
  • 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.
  • step S66 determines 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.
  • 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.
EP19180611.6A 2018-06-18 2019-06-17 Porte de protection et procédé de fonctionnement d'une porte de protection Active EP3584400B1 (fr)

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DE102018114552.7A DE102018114552A1 (de) 2018-06-18 2018-06-18 Schutzvorrichtung und Verfahren zum Betreiben einer Schutzvorrichtung

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