EP4038457A1

EP4038457A1 - Safety switching device and operating apparatus for robots or other machines

Info

Publication number: EP4038457A1
Application number: EP20793243.5A
Authority: EP
Inventors: Bernhard Lehner
Original assignee: Keba Industrial Automation GmbH
Current assignee: Keba Industrial Automation GmbH
Priority date: 2019-10-01
Filing date: 2020-09-16
Publication date: 2022-08-10
Also published as: DE102019126495A1; WO2021062454A1

Abstract

The invention relates to a safety switching device (1) for use in combination with programming and/or operating elements (18) of a machine control or robot control for manual control or programming processes on machines or robots. The safety switching device (1) comprises a panic switching means (19), which in its activation state transfers a machine or a robot from its associated machine control or robot control into a panic switching state or a safe state. Furthermore, the safety switching device (1) comprises a permission switching means (20), which in its activation state transfers a machine or a robot from its associated machine control or robot control into a permission state for carrying out potentially dangerous movements or process changes or control commands with respect to a machine or a robot. The permission switching means (20) is designed as a membrane key and the panic switching means (19) is designed as an electromechanical contact switch unit. The membrane key is arranged in front of the electromechanical contact switch unit relative to the direction of actuation of said key - arrow (24).

Description

SAFETY SWITCH DEVICE AND CONTROL DEVICE FOR RQBQ-

TER OR OTHER MACHINERY

The invention relates to a safety switching device for use in combination with programming and / or operating elements of a machine or robot controller and an operating device for robots or other machines which is equipped with such a safety switching device.

Safety switching devices for increasing safety in connection with the manual operation of machines or robots are known, for example, from WO2003 / 012809A1, AT7217U 1, or W02010 / 009488A2 on the part of the applicant. With these safety switching devices, increased safety requirements can be met, but their implementation in modern operating devices for manually controlled execution or influencing the movements or processes of machines or robots is only partially satisfactory.

The object of the present invention was to overcome the disadvantages of the prior art and to provide a safety switching device which meets high safety requirements and can be combined well with industrial operating devices.

This object is achieved by a safety switching device and also by a control device according to the claims.

The safety switching device according to the invention is intended for use in combination with programming and / or operating elements of a machine or robot controller and can be used for manual control or programming processes on machines or robots, this safety switching device comprising the following elements:

a panic switch which, in its activation state that can be brought about by an operator, is provided for transferring a machine or a robot, in particular its machine or robot control, into a panic switch state, stop state or a safe state; and - An approval switching means which, in its activation state that can be brought about by an operator, for transferring a machine or a robot, in particular its machine or robot control, into an approval state for the execution of potentially dangerous control commands, in particular movements or Process changes, compared to a machine or a robot is provided.

The consent switch is designed as a membrane key and the panic switch as an electromechanical contact switch unit, in particular as a contact block, where the membrane key is arranged in relation to the direction of actuation in front of the electromechanical contact switch unit.

The safety switching device according to the invention has the advantage that it enables a relatively compact or low structure and nevertheless has a high level of technical functional reliability. In addition, this safety switching device offers a wide range of functions, since in addition to signaling or providing an approval state for executing potentially dangerous robot or machine operations, such as movement movements, a panic function is also integrated, which is the panic function especially in the case of panic states or surprise moments of the operator, can be activated or taken immediately. In particular, the specified structure creates a two-stage safety switching device which, in addition to its idle state or initial state, has the two safety switching stages "approval switch position" and "panic switch position", which can also be referred to as "non-consent switch position", having.

In addition, the safety switching device according to the invention is relatively uncomplicated and can be integrated into a housing of a generic operating device while meeting high tightness requirements. In an advantageous manner, a high mechanical robustness of the safety switching element or the operating device can also be achieved through the relatively low or almost flush implementation of a membrane key on an operating device.

The switching states of the safety switching device can be evaluated by a safety logic or electronic evaluation circuit, whereby the assumption of the switching state active state (A) of the panic switch triggers a "system panic state", regardless of the switching state of the enabling switch. In the switching state inactive state (I) of the panic switching device, the switching state idle state (R) of the consent switching means corresponds to the "system idle state" and the switching state approval state (Z) of the consent switching means corresponds to the "system approval state". The panic switch position or non-consent switch position is provided in relation to the actuation direction of the two-stage safety switching device, the last switching stage, that is, after the consent switch position. This panic switch position can be assumed by applying increased actuation force compared to the membrane key, which increased actuation force in relation to reaching or taking the consent switch position must be increased significantly.

A practicable embodiment of the safety switching device is when a first force threshold value for actuation, in particular for manual activation or switching of the membrane key, is lower than a second force threshold value for actuation, in particular for manual activation or switching of the electromechanical contact switch. Unit. In particular, it is useful if the first force threshold value is less than 50% of the second force threshold value, preferably about 15% to 25% of the second force threshold value. This creates a two-stage safety switching device that supports intuitive and, at the same time, convenient operability. In particular, unintentional pushing through of the safety switching device into the second switching position, that is to say into the panic state, can thereby be prevented. In addition, a longer-lasting actuation or maintenance of the consent state is also possible without problems or fatigue-free.

According to an advantageous embodiment, it can be provided that the membrane key is resiliently mounted, and that when a predetermined actuation force is applied to the membrane key, which actuation force exceeds a predetermined force threshold value, the electromechanical contact switch unit, in particular the contact switching block positioned below, can be actuated is. This creates a two-stage safety switching device, that is, a switching element with two axially or serially successive actuation stages, which has a mechanically simple, compact and nevertheless robust structure. According to an advantageous embodiment, it is provided that the membrane key comprises at least one cover film with a domed, arched actuation zone. On the one hand, this enables haptic perception or detection and quasi-blind finding of the position of the safety switching device, for example in relation to a housing surface. In addition, at least part of the actuation path to be covered or the entire actuation path to be covered can thereby be provided, which actuation path is a transfer of the membrane key from the idle or initial state or "system idle state" to the actuation or consent state or "system - Approval status "causes. Such a tactilely detectable actuation path favors the user-friendliness of the safety switching device compared to a completely unyielding switching element such as a touch input surface.

In addition, it can be provided that at least one embossing or at least one bead is formed in the at least one cover film in the area surrounding the domed actuating zone. Such an embossing can be formed by a material displacement or compression in the at least one cover film. A bead can be formed by reshaping the at least one cover film, which is essentially U-, V- or W-shaped in section, for example analogous to the membranes of loudspeakers. As a result, relatively wide actuation paths for the safety switching device can be provided without causing a high surface tension of the at least one cover film. In particular, a long service life of the safety switching device can thereby be achieved after the stress and the associated risk of breakage or damage to the at least one cover film can be minimized. The operating ergonomics of the safety switching device can also be promoted as a result.

Furthermore, it can be expedient if a first or radially inner embossing and / or a first or radially inner bead is formed in the at least one cover film in the area surrounding the dome-shaped arched actuation zone, which to provide a first actuation path for the activation of the approval Switching means is provided. In addition, a second or radially outer embossing and / or a second or radially outer bead is formed in the at least one cover film, which is intended to provide an extended or additional actuation path for activating the stop switch. As a result, a total actuation travel of several millimeters, in particular from 3 to 6 mm, can be provided without any problems, without causing excessive stress on the at least one cover film after numerous actuation processes. The actuation area of the safety switching device can only be about 4 to 9 cm ² . In particular, a so-called accordion principle can be used to target relatively large actuation swegs with a long service life of the safety switching device. In addition, a transition from the first switching stage, that is to say from the enabling switch position, to the second switching stage, that is to the panic switch position, can be created in this way, which is easily perceptible by touch.

According to an advantageous development, it can be provided that the dome-shaped, arched actuation zone is delimited or provided with a marking that contrasts in color with the color of the outermost layer of the at least one cover film. For example, a marking ring or a marking area in, for example, yellow color can be provided. As a result, an intuitive or, if possible, fail-safe operation of the safety switching device can be supported. In particular, the two-stage and the optimal actuation zone or the center of the safety switching device can be clearly signaled.

An embodiment is also advantageous, according to which the membrane key comprises two technologically different or physically diverse actuation state detection means. As a result, the membrane key can be technically protected against single errors, whereby the probability of a total failure of the membrane key is excluded despite the occurrence of a single error. Furthermore, this avoids or reduces the risk that both actuation state detection means are simultaneously disrupted or adversely affected by an external interference. The functional reliability of the membrane key can thus be maximized or the proper detection function with regard to the actual actuation states can be improved.

According to a particularly advantageous embodiment, the first actuation state detection means of the membrane key is formed by an electrical contact element, in particular by at least one electromechanical switching contact. The second actuation state detection means of the membrane key is by a capacitive or resistive Principle working sensor element formed. For example, this sensor element can be based on a conductivity measurement. In particular, the membrane key can have strain gauges or graphene coatings for force measurement. It is of particular advantage that this makes it possible to achieve increased security against manipulation or security against being tampered with by the security switching device.

Especially in connection with a capacitive sensor element as the second actuation state detection means, it can be avoided that the safety switching device or its to agree switching means is manipulated with pressure elements, for example pieces of wood, and / or adhesive tape, and is thus put into a permanent consent state. By means of a capacitive safety switching element, such bypassing of the safety function of the enabling switching means can be excluded if its detection behavior is set to the conductivity of a human finger.

According to an advantageous embodiment, the panic switch has two parallel, in particular special parallel acting, designed as break contacts, electrical contact elements. As a result, single-fault security is achieved, so increased functional reliability of the safety switching device or the panic switching means is guaranteed. This is especially true when the two normally closed contacts are designed as positive-opening contact elements.

In particular, it is expedient if the panic switch is designed as a contact block with a housing surrounding the electrical contact elements. This achieves a high level of robustness and reliability of the safety switching device. This is especially true when the contact block is formed by a standardized or tried and tested component. The at least partial encapsulation of the contact elements also increases the fail-safe safety of the safety switching device.

Furthermore, it can be provided that the radially inner embossing or the radially inner bead as well as the radially outer embossing or the radially outer bead in the at least one cover film when viewed in the direction of actuation of the membrane key are preferably circular or oval. The material loads or tensile stresses acting on the at least one cover film when the safety switching device is actuated can thereby be minimized or in relation to the scope of the respective Embossing or beading appear evenly or almost evenly. This differs from an angular foil embossing or an angular bead in the foil.

It can also be provided that the radially inner embossing or the radially inner bead in the at least one cover film, when viewed in the operating direction of the membrane key, runs or is preferably circular or oval, and that the radially outer embossing or the radially outer bead in the at least one cover sheet when viewed in the direction of actuation of the membrane key preferably runs or is designed in a square shape with rounded corners or rectangular with rounded corners. As a result, a higher actuation resistance for the second switching stage “stop or panic state” than for the first switching stage “consent state” can be achieved in a simple and effective manner. In addition, the operability of the safety switching device can be improved or an intuitive recognition of the two switching sequences of the two-stage safety switching device can be supported.

According to a particular embodiment, it can be provided that the membrane key is resiliently mounted in a resilient manner, in particular held in a relatively adjustable manner by means of at least one bead and / or embossing in the at least one cover film. A bottom or Basisab section of the membrane key is designed for the load-transferring activation of at least one actuation s plunger of the panic switch. As a result, a compact and at the same time functionally reliable safety switching device can be created. Among other things, the axial length, that is to say the extent of the safety switching device measured in the actuating direction, can thus be kept relatively small. Because there are as few mechanical individual components as possible in such a safety switching device, the manufacturing costs can also be kept relatively low.

Furthermore, the safety switching device can comprise at least one electronic evaluation circuit, which is designed to determine and output, in particular to signal or provide, the panic switching state and the consent state based on the actuation states of the foil button and the electromechanical contact switch unit . In this way, without complex locking mechanisms, it is possible, for example, to avoid the safety switching device starting from an active panic alarm. Switching delivery back to the initial or idle state briefly signals or provides an approval state. In particular, a series of plausibility checks and / or security evaluations can be implemented in a simple manner by means of an electronic evaluation circuit.

The object of the invention is also achieved by an operating device, in particular by a hand-held operating device for robots or other machines, which operating device has programming and / or operating elements for programming and / or controlling movement sequences or operating states. This operating device comprises at least one safety switching device as specified in the claims. The advantages and technical effects that can be achieved with this can be found in the preceding and following parts of the description.

According to an advantageous embodiment of the operating device, it is provided that the at least one cover sheet of the membrane key is designed as a one-piece, integral section of a membrane keyboard on the operating device. As a result, in addition to a relatively thin or low design of the housing of the operating device, a high degree of tightness and ro bustness of the operating device can be achieved.

In particular, it is possible that a height of a housing of the operating device, measured parallel to the actuation direction of the safety switching element, is less than 5 cm, preferably less than 3 cm. Among other things, the safety switching device according to the invention enables the construction of relatively slim or low housings, in particular tablet-like hand-held terminals with an increased level of security for industrial control applications. The safety switching device integrated in the operating device enables the provision of an approval switching state and also the output of a panic switching state or non-approval switching state.

For a better understanding of the invention, it is explained in more detail with reference to the following figures.

They each show in a greatly simplified, schematic representation: Fig. 1 An exemplary embodiment of a technical system, which by means of

Operating devices can be operated or influenced;

2 shows a possible embodiment of an operating device with a first and a second safety switching device;

Fig. 3 is a structural diagram of a first embodiment of a Sicherheitsschaltein direction;

4A shows a structural diagram of a second embodiment of a Sicherheitsschaltein direction in the unactuated rest or initial state;

FIG. 4B shows the safety switching device according to FIG. 4A while taking the first actuation stage for signaling an approval state; FIG.

4C shows the safety switching device according to FIG. 4A while taking the second actuation stage for signaling a panic switching state;

Fig. 5 to 8 different embodiments of resilient and resetting the actuation zones for the safety switching device.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, whereby the disclosures contained in the entire description can be applied accordingly to the same parts with the same reference numerals or the same component names. The position details chosen in the description, e.g. above, below, side, etc., refer to the figure immediately described and shown and these position details are to be transferred accordingly to the new position in the event of a change in position.

In Fig. 1 an exemplary embodiment of the arrangement of Sicherheitsschaltele elements 1 in a technical system 2 is shown, the technical system 2 by means of at least one control device 3 can be operated or influenced. The operating device 3 can be designed to be stationary and / or mobile or portable.

The technical system 2 is designed for automatic, semi-automatic and / or manual handling or processing of objects or workpieces. Likewise can a technical system 2 can be designed in such a way that other technical processes can be carried out or monitored in an automated manner.

The technical system 2 can include one or more electrically controlled machines 4, such as processing machines or conveying or transport devices and / or robots 5 or other manipulators or the like.

In addition to various mechanical components, the technical system 2 also has at least one electrical or electronic control device 6, which has a central control device 7 or several decentralized, interconnected or networked control devices 8, 9, 10 for various system parts, for example for a machine 4 and / or a robot 5. The decentralized control devices 8, 9, 10 are preferably assigned directly to the part of the system to be controlled or are arranged in the vicinity thereof.

At least one control device 3, such as a mobile handheld control device 11, can be connected to the control device 6 of the electromechanical system 2. The hand-held control device 11 is preferably constructed so compact and lightweight that it can be easily carried by an authorized operator 12 of the system 2.

For the need-based or temporary connection of the manual control device 11 to the control device 6 or at least one of the control devices 7, 8, 9, 10 of the technical system 2, the manual control device 11 has at least one interface 13. This interface 13 is usually formed on a control device 14 of the hand-held operating device 11. This control device 14 is preferably received in the interior of a housing 15 of the hand-held control device 11 and is thus protected from direct access from the outside.

The interface 13 can be designed to establish a wired connection via a cable 16 and / or to establish a wireless operative connection to the control device 6 or to at least one of the control devices 7, 8, 9, 10 of the system 2. Via this at least one wireless and / or wired interface 13 on the handheld control unit 11, this can be connected to the control device 6 or to individual control devices 7, 8, 9, 10 as required in terms of data or signals. For this purpose, at least one corresponding interface 17 is formed on the control device 6 or on at least one of the control devices 7, 8, 9, 10 of the technical installation 2. The mobile handheld control device 11 serves at least to influence the operating functions or mode of operation of a machine 4, a robot 5 or other technical system parts of a general technical process. In addition, the hand-held control device 11 can be designed to visualize process data and / or to observe the working methods of a technical system. Such process influencing or process visualizations are only possible if the mobile handheld control device 11 is properly connected to the corresponding interface 17 of the respective system 2 or the respective system part via the interface 13 in terms of data or signaling.

Alternatively or in combination with at least one of the aforementioned uses, the hand-held control device 11 can also be used to program the processes, in particular the movement or control processes, of machines 4 or robots 5 provided with actuators or sensors. In such a programming mode of the manual control device 11, so-called "teaching" of machines 4 or robots 5 can be carried out, for example. The control or movement sequences stored in a memory can then be carried out automatically or automatically by the machine 4 or the robot 5 be carried out in a controlled manner.

A safety switching device 1 for use in combination with programming and / or operating elements 18 of a machine or robot controller for manual control or programming processes on machines 4 or robots 5 is also provided on hand-held control device 11.

According to the embodiment shown in FIG. 1, safety switching elements 1 are also provided on the control device 6, on the robot 5 and on the machine 4 in order to be able to enter or execute safety-relevant or safety-critical commands directly, or to be able to use a machine 4, a robot 5 or to be able to transfer another part of the system to a safe state.

An advantageous embodiment of a safety switching element 1 is explained in more detail below in connection with the illustrations in FIGS. Such a safety switching element 1 comprises a panic switching means 19, the panic switching means 19 enabling the switching states inactive state (I) and active state (A) to be alternately assumed. This safety switching element 1 further comprises a switching means 20 to agree, wherein the to agree switching means 20 enables the alternate assumption of the switching states idle state (R) and consent state (Z).

The switching states are evaluated by a safety logic, in particular an electronic evaluation circuit 36, with the assumption of the active state (A) of the panic switch 19 triggers a "system panic state", regardless of the switch state of the enabling switch 20. In the inactive state ( I) of the panic switching means 19, the switching state idle state (R) of the consent switching means 20 corresponds to the "system idle state" and the switching state approval state (Z) of the consent switch by means of 20 corresponds to the "system approval state".

Since operating devices 3, such as manual operating devices 11, control devices 6, robots 5 or machines 4, often have limited placement options for switching elements such as operating elements 18 or other command input elements, panic switching means 19 and consent switching means 20, the safety switching device 1 is a combined Switching element executed. The to agree switching means 20 and the panic switching means 19 are structurally superimposed.

With the safety switching device 1, when the panic switching means 19 is activated, an immediate panic stop or emergency stop at least of a part of a functionally connected machine 4, a robot 5 or a technical process can be initiated. This panic switching means 19 is provided above all to avert or turn off safety-critical or dangerous situations within the technical system 2.

Exclusive stop or emergency stop switching means 19 ', that is to say switching means without a combination with a switching means 20 to agree, are usually also easily visible and easily accessible on other parts of the system in order to be able to be reached and operated quickly if necessary.

The safety switching elements 1, in particular their panic switching means 19, are integrated into a well-known, not shown safety circuit of the control device 6, which essentially has the effect that when a "system panic state" is present, at least the affected, safety-critical parts of the Plant 2 stopped, switched off or de-energized. The safety switching device 1 on the hand-held control device 11 can be integrated into the safety circuit of the control device 6 or the technical system 2 via the interface 13, for example a wired interface, or possibly via an independent interface, or at least we can connect it to it from a technical point of view.

The enabling switching means 20 provided in the safety switching device 1 is designed to ensure that potentially safety-critical movements or functions can only be performed or implemented when the enabling switching means 20 is actively operated in a predefined manner by an operator 12 . With the consent switching means 20 it can thus be avoided that potentially safety-critical movements or potentially dangerous functions, in particular movement functions, are carried out unintentionally or unintentionally. In particular, the corresponding control commands are implemented only with conscious, defined actuation of the consent switch 20, for example transmitted via the interface 13 from an operating element 18 and / or from another movement control device to the control device 6 of the technical system 2. Accordingly, execution or implementation of potentially dangerous control commands via the control device 6 is only released when the consent switch 20 is actuated accordingly.

The enabling switching means 20 of the safety switching element 1 can be actuated by means of one finger or by means of several fingers of one hand of an operator 12. The enabling switch means 20 can also be referred to as a “hold-to-run” switch means, because a function is only carried out for as long as this switch means is pressed.

FIG. 2 shows a possible embodiment of an operating device 3 with at least one safety switching device 1, the same reference numerals or component designations being used for the same parts as in the previous FIG. 1. In order to avoid unnecessary repetitions, reference is made to the detailed description in the previous Fig. 1.

The operating device 3 shown in FIG. 2 is a hand-held control device 11 for influencing movement or functional sequences of a technical process or a technical system 2. For this purpose, at least one control element is provided on the hand-held control device 11. ment 18 formed. This at least one operating element 18 can, however, also be used in order to be able to influence, change or set internal processes or operating states of the hand-held operating device 11 itself. The operating element 18 is therefore provided at least for operating a technical system 2 or parts of the system and preferably also for influencing the operating functions of the handheld operating device 11. The at least one operating element 18 can thus be selected from the group comprising joystick, space mouse, touch screen, membrane keyboard, rotary actuator operating element, rocker switch and the like.

In addition to the general operating elements 18 for entering control commands, for selecting operating functions or for navigating in function menus of the hand-held control device 11, at least one safety switching device 1, which can be accessed as quickly and conveniently as possible, is formed, which has a panic switch 19 and a switch 20 to agree structurally combined or merged.

The panic switch 19 enables the switching states inactive state (I) and active state (A) to be taken alternately, and the consent switch 20 enables at least two switching states to be alternately taken, such as idle state (R) and consent state (Z). The switching states can be provided to a technical system 2 connected to the manual control unit 11.

The switching states are evaluated by a safety logic, whereby the assumption of the switching state active state (A) of the panic switching means 19 triggers a "system panic state", regardless of the switching state of the enabling switching means 20. In the switching state inactive state (I) of the panic switching means 19, the switching state of the idle state (R) of the enabling switching means 20 corresponds to the “system idle state” and the switching state of the enabling state (Z) of the enabling switching means 20 corresponds to the “system enabling state”.

In particular, when the panic switch 19 is actuated, the entire signal to the Handbe operating device 11 or respectively. Technical system 2 connected in terms of data technology or at least one safety-critical system part which carries out dangerous robot or machine operations - for example, movement movements - carries out, pauses, stops or puts them in a safe state. A safe operating state of a system 2, a machine 4, a robot 5 or the like is given, for example, when potentially dangerous processes for living beings or objects, especially certain movement processes, are effectively prevented. In many cases, this is done by interrupting the energy supply to the actuators or drive units of the system 2 or the respective system part. In other cases, the drive units are controlled in such a way that the system parts are stopped as quickly as possible and are held in this position until further notice, for example by applying energy to the controllers or by activating brakes.

The safety switching device 1 of the handheld control device 11 is integrated into the safety circuit of the technical system 2 or connected to it during the functional operating state of the handheld control device 11.

By manual actuation of a panic alarm device 19 arranged on the manual control unit 11 or on another stand of the technical system 2 and connected to the security circuit, the respective machine 4 or the corresponding machine part is immediately transferred to a "system idle state" in which no potential Dangerous robot or machine operations, for example traversing movements, can be carried out. This “system idle state” remains in place until all panic alarm means 19 of a system or part of a system are consciously returned to an inoperative state.

As can best be seen in FIG. 3, the Schahmittel to agree 20 is designed as a membrane key 21 and the panic Schahmittel 19 as an electromechanical contact switch unit 22, in particular as a contact block 23 is formed. The membrane key 21 is arranged in front of the electromechanical contact switch unit 22 in relation to de Ren actuation direction - arrow 24. The contact block 23 of the panic switching means 19 preferably comprises a housing 26 which delimits the electrical contact elements 25, 25 '. This contact block 23 is preferably designed as an electronic component or switch assembly that is available as standard. The two contact elements 25, 25 ‘are designed as NC contacts. These are preferably positive-opening contacts which can be transferred into the open position by at least one actuating plunger 32, 32 '.

The membrane key 21 of the safety safety device 1 comprises at least one cover sheet 27 with a dome-shaped, arched actuation zone 28. This dome-shaped actuation zone 28 can also be referred to as a shah's bubble. The tactile perceptible Schah- or Actuating path of the membrane key 21 can thereby by the elastic resilience and by the elastic resetting behavior of the dome-shaped arched actuation zone 28 of the at least a cover sheet 27 can be determined or co-determined. The mechanical pressure or switching point of the membrane key 21, which is tactile perceptible by an operator, can be created by the dome-shaped actuation zone 28 and / or by a combination with a preferably metallic snap disk.

As can also best be seen from FIG. 3, the membrane key 21 can be resiliently mounted in a resilient manner. This resilient mounting is designed in such a way that when a predetermined actuation force is applied to the membrane key 21, which actuation force exceeds a predetermined force threshold value, the electromechanical contact switch unit 22 can be actuated. The resilient mounting of the membrane key 21 contributes to the two-stage nature of the safety switching device 1. In particular, two axially or serially successive actuation stages with a first and a second actuating or actuating path are thus implemented.

At least one embossing 29 and / or at least one bead 30 can be formed in the at least one cover foil 27 in the edge or surrounding area of the domed actuating zone 28. As a result, a dedicated relative adjustability of the membrane key 21 or the dome-shaped actuation zone 28 relative to the contact switch unit 22 or relative to the housing 15 of the operating device 3 can be ensured.

The membrane key 21 can therefore be supported in a resilient manner by means of the at least one embossing 29 and / or bead 30. A bottom or base section 31 of the membrane key 21 can be used for load-transmitting activation of at least one actuating plunger 32,

32 ‘of the panic switching means 19 can be formed. As a result, the panic switch 19 can be activated starting from the membrane key 21. In particular, the panic switch 19 can be actuated by pressing the operator 12 downward or comparatively more intensely with respect to the membrane key 21. This is ensured, inter alia, by the serial or in the direction of actuation - arrow 24 - successive arrangement of the switch means 20 and the panic switch 19 ensured.

In order to make the dual functionality of the safety switching device 1 as clearly recognizable as possible, a color-contrasting marking 33 can also be provided. This can delimit the dome-shaped arched actuation zone 28 and be different in comparison to the color of the outermost cover film 27, for example in yellow. This marking 33 can be ring-shaped and, for example, within the embossing 29 or Bead 30 run in order to remain clearly recognizable in the long term. It is also conceivable to provide the actuation zone 28 at least partially with a color-contrasting marking 33.

The membrane key 21 has two technologically or physically different actuation state detection means 34, 35. These actuation state detection means 34, 35 are provided to detect the actuation state and / or the idle state of the membrane key 21 and to make it electronically evaluable. For this purpose, the actuation state detection means 34, 35, which are technically diverse, are line-connected to an electronic evaluation circuit 36.

According to the embodiment according to FIG. 3, the first actuation state detection means 34 is formed by electrical contact elements 37, 38, 39 that correspond to one another. In particular, at least one electromechanical switching contact is designed which, depending on the design, comprises at least two, possibly also three or more electrical contact points. The second actuation state detection means 35 of the membrane key 21 is formed by a sensor element 40 that works according to the capacitive or resistive principle. This sensor element 40 comprises at least two electrodes, it being possible to draw conclusions about the actuation state and / or the idle state of the membrane key 21 on the basis of electrical capacitance changes. Alternatively, the sensor element 40 can be based on a conductivity measurement method or on a force measurement. Such conductive sensor elements 40 or the aforementioned capacitive sensor elements 40 can be easily integrated into a membrane key 21.

The panic alarm device 19 has two parallel electrical contact elements 25, 25 'designed as break contacts. These normally closed contacts are each line-connected to the electronic evaluation circuit 36 in order to be able to detect the idle state and / or the actuation state of the panic switching means 19. The at least one electronic evaluation circuit 36 is designed in particular to determine and output, in particular to signal or for, the panic state and the mood s state based on the actuation states of the membrane key 21 and the electromechanical contact switch unit 22 the control device 8, 9, 10, 14 and the safety circuit of the respective machine 4 or the respective robot 5 provide. FIGS. 4A to 4C show a further and possibly independent embodiment of the safety switching device 1, the same reference symbols or component designations being used for the same parts as in the previous figures. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding figures.

Both in the embodiment according to FIG. 3 and in the embodiment according to FIGS. 4A to 4C, a first force threshold value 41 for actuation or manual activation or switching of the membrane key 21 is lower than a second force threshold value 42 for Actuation or manual activation or switching of the electromechanical contact switch unit 22. The first force threshold value 41 is less than 50%, preferably about 15% to 25%, of the second force threshold value 42.

In FIG. 4A, the unactuated initial or idle state is illustrated in which there is no consent to the execution of potentially dangerous control commands. In FIG. 4B, the safety switching device 1 is acted upon by at least one finger of a user with a force greater than or equal to the first force threshold value 41. The membrane key 21 of the safety switching device 1 is thereby actuated and the safety switching device 1 is thus in the enabling switching state. The actuation state of the membrane key 21 can be safely detected by means of the two actuation state detection means 34, 35. In Fig. 4C, the safety switching device 1 is acted upon by at least one finger of an operator with a force greater than or equal to the second force threshold value 42, which second force threshold value 42 is higher than the first force threshold value 41 is thereby actuated and the safety switching device 1 is thus in the panic switching state or in the non-consent switching state, in which the previously active consent switching state is canceled or removed.

A first or radially inner embossing 29 and / or a first or radially inner bead 30 is formed in the at least one cover film 27 in the vicinity of the domed actuation zone 28 of the membrane key 21. This serves to provide a first Actuate transmission path for activating the consent switching means 20, as can be seen in FIG. 4B. A radially outer embossing 29 'and / or a radially outer bead 30' in the at least a cover film 27 is provided to provide an extended or additional actuation sweep for activating the panic switch 19.

As can be seen in the safety switch devices 1 according to FIG. 2, the radially inner embossing 29 or the radially inner bead 30 in the at least one cover sheet 27 when viewed in the operating direction of the membrane key 21 can preferably run circular or oval. The radially outer embossing 29 ‘or the radially outer bead 30‘ in the at least one cover film 27 extends when viewed in the operating direction of the membrane key 21 preferably square table with rounded corners or rectangular with rounded corners.

As can be seen from FIG. 6, it can also be provided that the radially inner embossing 29 or the radially inner bead 30 as well as the radially outer embossing 29 ′ or the radially outer bead 30 ′ in the at least one cover film 27 of the safety shoe device 1 when viewed in the direction of actuation of the membrane key 21 are preferably circular or oval in each case. The circular embossings 29, 29 ‘and / or beads 30, 30‘ in the cover film 27 are ideal because the same mechanical stress occurs at all points in this shape, as illustrated by means of radially extending arrows. In contrast, an angular foil stamping is shown in FIG. 5. This has the disadvantage that high or very different mechanical stresses occur in the material at the sharp-edged corners and a particularly high elongation of the cover film 27 would be required. The angular foil stamping according to FIG. 5 is therefore comparatively unfavorable.

As illustrated in FIG. 7, it is also possible to make the actuation zone 28 of the safety viewing device 1 or the courses of the embossments 29, 29 'and / or the beads 30, 30' in the cover sheet 27 preferably square or rectangular and strong rounded corners are to be provided. As a result, the mechanical load on the cover sheet 27 in the course of manual pushing or actuating movements and the associated relative adjustments with respect to the housing 15 of the operating device 3 - FIG. 2 - can be kept low.

An alternative embodiment for the course of the embossments 29, 29 'and / or beads 30, 30' is shown in FIG. 8. There is a star-shaped course of the embossments 29, 29 'and / or Beads 30, 30 'provided, the outer contour of a plurality of circularly arranged, pointed corners can be formed.

As can best be seen from FIG. 2, the safety switching device 1 can to a certain extent be integrated into a membrane keyboard 43 of the operating device 3. In particular, it is advantageous if the at least one cover sheet 27 of the membrane key 21 is designed as a one-piece, integral section of a membrane keyboard 43 on the operating device 3. This membrane keyboard 43 can function as an operating element 18 of the operating device 3.

Due to the relatively low height of the safety switching device 1 in the axial or actuating direction - arrow 24 - it is now possible that a height 44 of the housing 15 of the operating device 3 measured parallel to the actuating direction - arrow 24 - of the safety switching element 1 is less than 5 cm, preferably less than 3 cm.

The exemplary embodiments show possible design variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated design variants, but rather various combinations of the individual design variants are possible with one another, and this possible variation is based on the need for technical action by the present invention is within the ability of a person skilled in the art working in this technical field.

The scope of protection is determined by the claims. However, the description and the drawings are to be used to interpret the claims. Fine features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions for themselves. The task on which the independent inventive solutions are based can be found in the description.

All information on value ranges in the present description are to be understood in such a way that they include any and all sub-areas, e.g. the information 1 to 10 should be understood to include all sub-areas, starting from the lower limit 1 and the upper limit 10 are, ie all sub-areas begin with a lower one Limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

For the sake of order, it should finally be pointed out that, for a better understanding of the structure, some elements have been shown not to scale and / or enlarged and / or reduced.

List of reference symbols

Safety switching device 29, 29 ‘embossing 30, 30‘ beading technical system 31 base section operating device 32, 32 ‘actuation s plunger machine 33 marking robot 34 actuation state- Er

Control device detection means central control device 35 actuation state- Er

Control device holding means

Control device 36 evaluation circuit

Control device 37 contact element

Handheld device 38 contact element

Operator 39 contact element

Interface 40 sensor element

Control device 41 first force threshold value

Housing 42 second force threshold

Cable 43 membrane keyboard

Interface 44 Height of control element Panic switch ‘Emergency stop switch to enable switch Membrane key

Contact switch unit

Contact block

Arrow (direction of actuation), 25 ‘contact elements

casing

Cover sheet

Actuation zone

Claims

Patent claims

1. Safety switching device (1) for use in combination with programming and / or operating elements (18) of a machine or robot controller for manual control or programming processes on machines (4) or robots (5), comprising:

- A panic switching means (19) which, in its activation state, is provided for transferring a machine (4) or a robot (5) or their machine or robot control into a panic switching state or a safe state; and

- A consent switching means (20), which in its activation state for transferring a machine (4) or a robot (5) or their machine or robot control in a mood s -Stand for the execution of potentially dangerous Be movements or process changes or control commands with respect to a machine (4) or a robot (5) is provided, characterized in that the consent switch (20) is designed as a membrane button (21) and the panic switch (19) as an electromechanical contact switch -Unit (22) is formed, and that the membrane key (21) with respect to the direction of actuation - arrow (24) - is arranged in front of the electromechanical contact switch unit (22).

2. Safety switching device according to claim 1, characterized in that a first force threshold value (41) for manual actuation or activation of the membrane key (21) is less than a second force threshold value (42) for manual actuation or activation of the electromechanical contact switch -Unit (22), in particular less than 50%, preferably between about 15% to 25%.

3. Safety switching device according to claim 1 or 2, characterized in that the membrane key (21) is resiliently mounted such that when a predetermined actuating force is applied to the membrane key (21), which actuating force exceeds a predetermined force threshold value (42) , the electromechanical contact switch unit (22) can be actuated.

4. Safety switching device according to one of the preceding claims, characterized in that the membrane key (21) comprises at least one cover film (27) with a domed actuating zone (28).

5. Safety switching device according to claim 4, characterized in that in the surrounding area of the domed actuating zone (28) at least one embossing (29, 29 ') and / or at least one bead (30, 30') in the at least one cover film ( 27) is formed.

6. Safety switching device according to claim 4, characterized in that the surrounding area of the domed actuating zone (28) has a radially inner embossing (29) and / or a radially inner bead (30) in the at least one cover film (27) ready for use position of a first actuation path for activating the enabling switch means (20) is formed, as well as a radially outer embossing (29 ') and / or a radially outer bead (30') in the at least one cover film (27) to provide an extended actuation path is designed to activate the panic switch (19).

7. Safety switching device according to one of claims 4 to 6, characterized in that the dome-shaped arched actuation zone (28) borders or is provided with a marking (33) which contrasts in color with the color of the outermost layer of the at least one cover film (27).

8. Safety switching device according to one of the preceding claims, characterized in that the membrane key (21) comprises two technologically different actuation status detection means (34, 35).

9. Safety switching device according to claim 8, characterized in that the first actuation state detection means (34) by at least one electrical contact element (37, 38, 39), in particular by an electromechanical switching contact, and the second actuation state detection means (35) by a is formed according to the capacitive or resistive principle working sensor element (40).

10. Safety switching device according to one of the preceding claims, characterized in that the panic switching means (19) has two parallel, led out as NC contacts, electrical contact elements (25, 25 ‘).

11. Safety switching device according to claim 10, characterized in that the panic switching means (19) is designed as a contact block (23) with a housing (26) surrounding the electrical contact elements (25, 25 ‘).

12. Safety switching device according to claim 6, characterized in that the radially inner embossing (29) or the radially inner bead (30) and the radially outer embossing (29 ') or the radially outer bead (30') in the at least one cover film (27) when viewed in the direction of actuation - arrow (24) - the membrane key (21) is preferably circular or oval.

13. Safety switching device according to claim 6, characterized in that the radially inner embossing (29) or the radially inner bead (30) in the at least one cover film (27) when viewed in the actuating direction - arrow (24) - of the membrane key (21) preferably circular or oval, and that the radially outer embossing (29 ') or the radially outer bead (30') in the at least one cover film (27) when viewed in the direction of actuation - arrow (24) - of the membrane key (21) is preferably square with rounded corners or rectangular with rounded corners.

14. Safety switching device according to one of the preceding claims, characterized in that the membrane key (21) is resiliently mounted and a base section (31) of the membrane key (21) for load-transmitting activation of at least one actuation s plunger (32, 32 ') of the panic switching means (19) is formed.

15. Safety switching device according to one of the preceding claims, characterized in that it comprises at least one electronic evaluation circuit (36) which is designed to panic based on the operating states of the membrane key (21) and the electromechanical contact switch unit (22) - to determine and output the switching status and the consent status.

16. Operating device (3), in particular manual operating device (11) for robots (5) or other machines (4), with programming and / or operating elements (18) for programming and / or controlling movement sequences or operating states of a robot (5) or another machine (4), characterized in that the operating device (3) comprises at least one safety switching device (1) according to one or more of the preceding claims.

17. Operating device according to claim 16, characterized in that the at least one cover film (27) of the membrane key (21) is designed as a one-piece, integral section of a membrane keyboard (43) on the operating device (3).

18. Control device according to claim 16 or 17, characterized in that a pa rallel to the actuation direction - arrow (24) - of the safety switching element (1) measured height (44) of a housing (15) of the control device (3) is less than 5 cm, preferably is less than 3 cm.