Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1674—Program controls characterised by safety, monitoring, diagnostic
  • B25J9/1676—Avoiding collision or forbidden zones
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
  • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by monitoring or safety
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/06—Safety devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/16—Program controls
  • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
  • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
  • F16P3/12—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
  • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B9/00—Safety arrangements
  • G05B9/02—Safety arrangements electric
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04W—WIRELESS COMMUNICATION NETWORKS
  • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
  • H04W4/02—Services making use of location information
  • H04W4/029—Location-based management or tracking services
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
  • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/32—Operator till task planning
  • G05B2219/32128—Gui graphical user interface
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/36—Nc in input of data, input key till input tape
  • G05B2219/36162—Pendant control box
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/37—Measurements
  • G05B2219/37095—Digital handheld device with data interface
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/39—Robotics, robotics to robotics hand
  • G05B2219/39447—Dead man switch
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/40—Robotics, robotics mapping to robotics vision
  • G05B2219/40478—Graphic display of work area of robot, forbidden, permitted zone
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/50—Machine tool, machine tool null till machine tool work handling
  • G05B2219/50198—Emergency stop

Definitions

• the invention relates to a method for operating a machine control system with at least one machine control for performing machine operations.
• the machine control system comprises at least one mobile hand-held device portable by an operator for the functional influencing of at least one of the machine controls, which hand-held device has at least one control element for manually influencing machine operations and at least one user interface with a display for observing or controlling the machine operations by an operator and which hand control unit comprises at least one emergency stop actuating element for ending potentially dangerous machine operations, the respective operating states of the at least one emergency stop actuating element that can be manually activated and changed by an operator via at least one transmission interface into an emergency stop Safety circuit or be coupled into a safety bus system of the selected or actively connected machine control.
• the invention also relates to a corresponding machine control system.
• a generic machine control system is for example from the
• WO2018 / 039692A1 which goes back to the applicant, is known. It is checked by means of a data-technical identifier of the handheld device whether or in what form the handheld device can be coupled with the respective machine control in terms of control technology. With this compatibility check, which is carried out at least partially automatically, the attainable ease of use and the safety of the control system can be increased. However, potentially critical situations cannot be completely ruled out due to errors on the part of the user or misconduct on the part of the user.
• the object of the present invention was to overcome the disadvantages of the prior art and to provide a method and a device by means of which a control of machines or an operation of a machine control system can be made even safer and at the same time as convenient as possible .
• the method according to the invention for operating a machine control system comprises the steps:
• An advantage of the measures according to the invention is that potentially safety-critical states as a result of an error or due to an unstable memory ability of an operator can be kept behind.
• an operator can be clearly signaled by the scope of the invention to which scope or to which scope of the machine control system the availability of the emergency stop actuator on the mobile handheld device is limited. This is of particular importance in the case of hand-held control devices with a large radius of action or relatively long cable connection, or in the case of hand-held control devices which can be coupled or coupled completely wirelessly to the machine control system.
• the selective activation or activation of the at least one illuminant on the hand-held control device also enables a particularly unmistakable signaling of the emergency stop effective area or the emergency stop effective areas.
• the at least one illuminant can be made discrete, for example in the form of a plurality of LEDs.
• the at least one illuminant can also be designed as an integral component, for example in the form of a 7-segment display or in the form of a dot matrix display with a plurality of grouped illuminants.
• any discrepancies between the display information of the display and the display information of the at least one illuminant can be noticed directly by the operator and can indicate an implausible condition or a possible malfunction in the machine control system.
• the display of the emergency stop effect area (s) by means of the display and the display of the emergency stop effect area (s) by means of at least one lamp preferably takes place simultaneously or together. The operator can thus act as an additional human control body, after the double-output information about the emergency stop effective area, which information content is usually displayed identically by the display and the illuminants, can be compared quickly and unambiguously.
• the selective activation of the lamps on the handheld control device is carried out in a fail-safe manner.
• this can meet increased reliability and functional requirements after the probability of a false display of the applicable emergency stop effective areas is basically zero or associated safety risks can be eliminated or reduced to a minimum.
• a fail-safe activation of that illuminant or illuminant is carried out which illuminant identifies that partial area of the machine control system or which illuminant identify those partial areas of the machine control system for which sub-area or for which sub-areas the emergency stop actuating element is functionally available, in particular is ready for operation.
• the operator can be made as clearly identifiable as possible, in particular clearly highlighted or marked, with respect to which “switch-off areas” or effective zones the emergency stop actuating element can be effective if necessary.
• the emergency stop actuating element for signaling the effective range or the effective ranges of the at least one emergency stop actuating element on the display of the hand control device, that partial area of the machine control system is marked graphically and / or highlighted in color or those partial areas of the machine control system are graphically highlighted are marked and / or highlighted in color for which sub-area or sub-areas the emergency stop actuating element is functionally available, ie is ready for operation, and / or that if the at least one emergency stop actuating element is available on the hand control device, the discretely designed illuminant in or on which at least one emergency stop actuator is activated. Accordingly, the emergency stop actuating element is illuminated or backlit when it is available or ready for operation. Alternatively or in combination, those lamps can be active which signal the functionally available range of action or the functionally available range of action of the emergency stop actuating element on the hand-held control device.
• the respective stop category of the at least one emergency stop actuating element that is to say category 0 for immediate interruption of the energy supply in relation to the at least one machine operation, or category 1 for stopping movements or Functions related to the at least one machine operation and subsequent interruption of the energy supply is displayed.
• category 0 for immediate interruption of the energy supply in relation to the at least one machine operation
• category 1 for stopping movements or Functions related to the at least one machine operation and subsequent interruption of the energy supply
• a manually operable and / or automated mode switching means is provided, with which a manually initiated or automated change between an (i) stationary operating mode of the handheld device and a (ii) machine influencing Mode of the handheld device, in particular a so-called teach mode, and vice versa.
• the at least one emergency stop actuating element on the hand-held operating device can be operated or provided in the (i) stationary operating mode of the hand-held operating device as an emergency stop functional element for the immediate interruption of the energy supply in relation to the at least one machine operation, and that the at least one emergency stop actuating element on the hand control device in (ii) machine influencing mode of the hand control device for stopping movements or functions in relation to the at least one machine operation and subsequent interruption of the energy supply is operated or provided.
• the at least one emergency stop actuating element in (i) stationary operating mode of the hand-held device is assigned an at least partially red-colored appearance by activating the at least one illuminant, while in (ii) machine influencing mode the at least one illuminant is deactivated .
• the emergency stop actuator preferably has no red colored sections, but has a gray or a gray and yellow appearance, in particular a milky-gray translucent and yellow appearance.
• the mode switching means is influenced by interaction on the part of the operator with respect to at least one button on the hand-held operating device. This creates a manual switchover option between the two operating modes, possibly secured by an authorization checking means.
• the mode switching means by storing the handheld device at a predefined location or by predefined assignment and / or attachment to a predefined remote station, e.g. a wall bracket, is automatically influenced.
• a predefined remote station e.g. a wall bracket
• the at least one transmission interface of the hand-held control device is designed wirelessly, the at least one wireless transmission interface for wirelessly establishing or implementing a control-technical connection between the hand-held control device and at least one of the machine controls. If necessary, the wireless active connection can also be set up by one of the machine controls in relation to a dedicated connection point or connection box.
• the respectively present operating states of the at least one emergency stop actuating element which can be manually activated and changed by an operator are transmitted via the at least one wireless transmission interface and transmitted to the emergency stop safety circuit or the safety bus system the selected or actively connected machine control system can be coupled in, so that in an active operating state of the hand control device, the at least one emergency stop actuating element can be functionally coupled into the emergency stop safety circuit or into the safety bus system of the selected or actively connected machine control system.
• the at least one illuminant comes on the hand control and / or the at least one discreetly designed illuminant in or on the at least one emergency stop actuating element of the hand control device by an electronic safety module arranged in the hand control device, for example in the form of a safety control , is controlled.
• the planned function, in particular the active and / or the inactive state, of the at least one illuminant is checked by means of the safety module and at least one sensor connected to it, and any error state is signaled.
• Such signaling can be carried out, for example, on the handheld control device and can thereby be brought to the operator's attention immediately.
• At least some or all of the lamps are formed by at least one 7-segment display in the peripheral or edge area of the display and / or on the emergency stop actuating element.
• FIG. 1 shows a diagram of an exemplary machine control system comprising machines, in particular industrial robots, which can optionally be controlled manually and can also be controlled automatically;
• FIG. 2 shows a portable hand-held control device which is used in the machine control system according to FIG.
• Fig. 3 shows an emergency stop actuator with automatically activated and deactivated
• Illumination or backlighting to signal its functional availability and non-availability.
• Fig. 1 shows an embodiment of a machine control system 1 for manual, partially automatic and fully automated execution of production or machining processes.
• the corresponding machines 2, 2 ' are formed by a group of industrial robots.
• the machines controlled by control technology can also be formed by other processing machines or by machine tools.
• the corresponding machines 2, 2 'each comprise at least one electronic machine control 3, 3', via which the respective actuators or drives of the associated machine 2, 2 'can be controlled or activated, and which machine controls 3, 3' with a plurality of sensors or sensors for recording or monitoring the respective current operating or machine states are connected.
• At least one mobile, in particular one handheld device 4 that can be carried by an operator is integrated or can be integrated in terms of control technology.
• the hand-held control device 4 comprises at least one electronic control device 5, which can be selectively placed in interaction with the local machine controls 3, 3 'or is communication-compatible for this purpose.
• at least one, for example, radio transmission interface 6 is configured on the hand-held device 4 or coupled to its control device 5.
• the hand-held control device 4 is preferably completely wireless, that is to say it can be operated without any cable connection.
• the electrical power supply of the electrotechnical components of the handheld device 4 it comprises at least one battery or at least one rechargeable accumulator 7.
• the handheld control device 4 or its at least one transmission interface 6 ′ can be wired or wired.
• the hand-held control device 4 is then connected or connectable to at least one of the machine controls 3, 3 ′′ in terms of data or control technology by means of a cable connection 20 ′′ - shown in dotted lines in FIG. 1.
• known connector interfaces can be formed on the machine control 3, 3 'side and / or on the hand control device 4 side.
• the emergency stop actuating element 8 acts on an emergency stop safety circuit 9 or 9 'of the respectively controlled or connected machine 2 or 2'. At most, the emergency stop actuating element 8 can also act on the entire machine control system 1. Alternatively or in combination, the respective actuation states, in particular a manually brought about active or inactive state of the at least one emergency stop actuating element 8 on the hand control device 4, can also be placed in a safety bus system 22, 22 'of the respective machine control 3, 3' or the respective machine 2, 2 'or machine group can be coupled or fed in by data technology, as will be described below.
• the emergency stop actuating element 8 is wirelessly integrated into the machine control system 1 via the at least one radio transmission interface 6 on the hand-held control device 4 or in terms of radio technology with the respectively selected and actively connected machine control 3 , 3 'functionally linked, in particular functionally coupled to the respective emergency stop safety circuit 9, 9' or the respective safety bus system 22, 22 '.
• the effective coupling between the emergency stop actuating element 8 and the respective emergency stop safety circuit 9, 9 'or safety bus system 22, 22' takes place while maintaining high availability requirements and taking into account high functional reliability.
• an electronic safety module 10 can be implemented in the hand-held control device 4, which in cooperation with an electronic safety evaluation module 11 on the part of the local machine control 3, 3 'for a particularly functionally reliable and highly available evaluation and transmission of the respective actuation states of the first emergency stop actuation element 8 on the portable, wirelessly connected hand control unit 4 ensures.
• this emergency stop actuator 8 or an additional emergency stop actuator as a separate component and via a cable connection or a radio link to couple with the handheld control device 4 or with its control device 5 in terms of signal technology.
• the same can apply to one or more approval switches, if appropriate.
• the well-designed, structurally separate components are colloquially referred to as “approval or emergency stop bones” due to their handy and compact design.
• the handheld control device 4 further comprises at least one control element 12, for example a joystick, a rotary actuator or the like, and / or at least one button 13 for manually influencing machine operations by an operator.
• at least one control element 12 for example a joystick, a rotary actuator or the like
• at least one button 13 for manually influencing machine operations by an operator.
• potentially dangerous machine operations for example movement control commands, activations of machine processes and the like, can be carried out or initiated with the at least one control element 12 or with the at least one button 13 by an operator.
• the at least one button 13 can be designed as an electrical push-button or switching element and / or can be formed by a touch-sensitive section on a touch-sensitive display 14 of the handheld device 4.
• the radio-technical remote station 15 is designed as a structurally independent connection box 16 with integrated control electronics 17, which control electronics 17 are connected to the primary control core 18 of the machine 2 or machine control 3 in an effective or line manner.
• the formation of a structurally independent connection box 16 offers the advantage that existing machine systems can thereby be retrofitted or an optional extension to a wireless communication system is available.
• the connection box 16 preferably comprises at least one further emergency stop actuating element 19 with which potentially dangerous machine operations can also be stopped immediately or with which a safe state is initiated or established for the operator and also for other persons in the vicinity of the machine control system 1 can be.
• the at least one further emergency stop actuating element 19 is functionally or technically integrated into the emergency stop safety circuit 9 or into the safety bus system 22, preferably hard-wired to the emergency stop safety circuit 9.
• security evaluation module 11 can be implemented in the connection box 16, in particular be designed as a functional component of the internal control electronics 17.
• the radio-technical remote station 15 ′′ is also possible to design the radio-technical remote station 15 ′′ as an integral or directly assigned component of the control core 18 ′′. It is also possible that the at least one further emergency stop actuating element l9 'in the area of the machine 2' is directly integrated into the emergency stop safety circuit 9 'of the machine controller 3', in particular is directly wired to the emergency stop safety circuit 9 '. Alternatively, signal or data integration into the safety bus system 22 'is also possible. The same can be provided for the emergency stop actuating element 19 on the connection box 16 and the emergency stop safety circuit 9 of the machine control 3.
• the respective operating states of the first emergency stop actuating element 8 on the hand-held operating device 4, which can be manually selected or brought about, in particular activated, by an operator, are transmitted and signaled via the at least one radio or cable-bound data or transmission interface 6, 6 ' Equivalent status coupled into the emergency stop safety circuit 9 or into the safety bus system 22 of the selected or functionally linked machine control 3. Accordingly, in an operating state of the hand-held control device 4, the at least one emergency stop actuating element 8 on the hand-held control device 4 is functionally coupled into the emergency stop safety circuit 9 or into the safety bus system 22 of the selected or functionally linked machine control 3. Analogous states apply to the case in which the manual control device 4 is functionally connected to the machine control 3 'or is functionally coupled.
• the hand-held control device 4 can optionally be coupled with the machine control 3 or with the machine control 3 'in terms of signal technology. This depends on the control requirements or wishes of the operator.
• the hand-held control device 4 is functionally coupled to the machine control 3, which can be seen by way of example by means of a radio-active connection 20 represented by a double arrow. Accordingly, if necessary, the operator can initiate an emergency stop in relation to the machine control 3 or in relation to the machine operations controlled thereby. For this purpose, the operator actuates the emergency stop actuating element 8 on the handheld control device 4 or the at least one further emergency stop actuating element 19 in the vicinity of the controlled machine 2.
• a manually initiated active or actuation state of the emergency stop actuation element 8 can be at least one electrically interrupted or open break contact
• an inactive or standby state in particular an inactive switching state of the emergency stop actuating element 8 can be represented in that the at least one break contact 21, 21 'in the at least single-circuit, preferably two-circuit, executed emergency stop safety circuit 9 or 9 'of the selected machine control 3 or 3' is electrically closed.
• this safety bus protocol can be implemented according to the FSoE standard, according to PROFIsafe, according to SafetyBUS or according to SafetyNET - any Trademark rights naturally remain with the respective trademark owners.
• this safety bus protocol can be implemented according to the FSoE standard, according to PROFIsafe, according to SafetyBUS or according to SafetyNET - any Trademark rights naturally remain with the respective trademark owners.
• the respective safety bus system 22, 22 'can thus be integrated into the standard or control-relevant bus system or control network, in particular into the so-called fieldbus of the machine control 3, 3', by means of a particularly fail-safe or highly available bus protocol.
• the security bus system 22, 22 'can also be designed as a physically independent data or control network. In order to increase the reliability or functional availability of the safety bus system 22, 22 ', this can also be implemented in a ring topology.
• the machine control system 1 or the machine controls 3, 3 'and / or the control electronics 17 of the hand-held control device 4 are set up to display an at least schematic image of the machine control system 1 or of partial areas of the machine control system 1 on the display 14 of the hand-held control device 4 , as shown in Fig. 2 at playful.
• a sub-area of the machine control system 1 is understood to mean an individual machine 2 or 2 ′′, a machine group 2 and 2 ′′, or subcomponents or sections of an individual machine 2, 2 ′′ or machine group 2 and 2 ′′.
• the corresponding mapping of the machine control system 1 or of subareas of the machine control system 1 on the preferably graphics-capable display 14 of the handheld operating device 4 can be carried out in a very vague or abstract manner down to photo-realistic.
• the machine control system 1 or the machine controls 3, 3 ′ and / or the control electronics 17 and / or the control device 5 of the hand-held control device 4 are set up to provide at least a schematic image of the effective effective range or the effective effective ranges W1, W2, W3, W4 to show the at least one emergency stop actuation element 8 on the hand control device 4 by means of the display 14 of the hand control device 4.
• at least one of the components mentioned is set up to selectively, preferably technically fail-safe, control of at least one lamp 23 on the hand-held control device 4 - FIG. 2 - and / or of at least one discretely designed lamp 24 in or on the at least one emergency stop Actuating element 8 on the hand-held control device 4 - FIG.
• Activation means the activation of the respective lamp (s) 23 and / or 24. Such activation activates the respective illuminant 23 or 24 and is therefore of the operator visually recognizable as switched on or as activated.
• the control of the at least one illuminant 23; 24 can include the determination of the state or actual situation and / or the signal transmission and / or the display or signaling of the respective effective range W1-W4 in a fail-safe technology. This control, which is preferably carried out in a fail-safe manner, can be achieved by means of software and / or hardware measures known per se, and ultimately leads to the fact that a single error does not lead to the loss of safety functions or does not lead to potentially dangerous errors or states.
• control in particular the activation and deactivation of the respective lamp (s) 23 and / or 24 is therefore preferably carried out using safe technology and is therefore particularly reliable or reliable with regard to the respective informative value via the effective areas W1-W4 or the emergency stop actuating element 8 implemented fail-safe.
• the individual, for example discrete, illuminants 23, each having an effective range W1, W2, W3 or W4 or zones or groups of effective ranges W 1-W3; W2-W4 or W 1-W4 and the like, can be assigned to be arranged in an edge region of the display 14.
• the discretely designed lamps 23 are arranged in the position nearest to the effective areas W 1-W4 which can be graphically represented or represented on the display 14, or are uniquely assigned locally, as exemplified in FIG. 2 with dashed lines was hinted at.
• that portion of the machine control system 1 can be marked graphically and / or highlighted in color or Those subareas of the machine control system 1 can be marked graphically and / or highlighted in color, for which subarea or for which subareas the emergency stop actuating element 8 is functionally available, in particular ready for operation.
• the discretely designed illuminant 24 can be activated or activated in terms of control technology in or on the at least one emergency stop actuating element 8. Accordingly, the emergency stop actuating element 8 is automatically illuminated or its illuminant 24 is automatically activated when the emergency stop actuating element 8 is actually available on the handheld control device 4 or is ready for operation with the highest reliability.
• the respective illuminants 23; 24 can be defined by discrete LEDs positioned on the housing 25 of the hand-held control device 4. Alternatively or in combination, it is also possible to position at least some or all of the illuminants 23 by at least one 7-segment display 26 for number display in the circumferential or peripheral area of the display 14 - see, for example, the illustration in dashed lines in FIG. 2 - And / or to form at least one 7-segment display 26 for number display on the emergency stop actuating element 8.
• the preferably graphic, clearly recognizable marking for an operator of the respective effective area or the respective effective areas Wl-Wn of the emergency stop actuating element 8 can be achieved by symbolic and / or colored markings on or in the image of the machine control system 1. For example, a colored, in particular red, border can be provided around those effective areas Wl-Wn for which the emergency stop actuating element 8 is functionally available. Likewise, on the display 14 of the hand-held control device 4, a color distinction can be provided between effectively assigned effective areas W l-Wn and ineffective, ie unassigned, effective areas W 1-Wn.
• the emergency stop actuating element 8 of the hand control device 4 is assigned to the effective areas W1, W2 and W3 or is currently functionally available for these effective areas. Accordingly, a red-colored border, for example, is provided around the zones W 1-W3 and the three discretely designed lamps 23 with the markings W1, W2 and W3 light up.
• the illuminant 23 for the currently unassigned effective range W4 does not light up.
• the illuminant 23 with the inscription W5 can be provided for another group of effective areas.
• the illuminant 23 with the inscription W6 can be activated when the emergency stop actuating element 8 is functionally assigned to all of the effective ranges W1-W4 within the machine control system 1 shown on the display 14.
• the illuminants 23 with the inscriptions W1, W2, W3 and W4 can also be active.
• the respective graphical representation type and also the respective illuminant-based representation type on the handheld operating device 4 are selected in such a way that the operating person is able to determine the effective range as quickly as possible and as clearly as possible. This can be achieved by a plurality of types of representation on the display 14 combined with adequate signaling by means of the illuminants 23; 24 can be reached on the housing 25 of the hand control device 4.
• the at least one illuminant 23 on the hand control device 4 and / or the at least one discretely designed illuminant 24 in or on the at least one emergency stop actuating element 8 of the hand control device 4 can be controlled by the electronic safety module 10 arranged in the hand control device 4.
• the electronic safety module 10 arranged in the hand control device 4.
• At least one external safety evaluation module 11 - FIG. 1 can be designed as a so-called safety controller to meet increased reliability or safety requirements.
• the planned function in particular the lighting status and / or the inactive status of the at least one lighting means 23; 24 is checked by means of the security module 10 and at least one sensor 27 connected to it, a possible error state or an evaluation discrepancy being signaled, for example, on the manual control device 4.
• the at least one sensor 27 with which the functionality of the at least one illuminant 23; 24 or the correctness of its activation state (on / off) can be evaluated can be formed, for example, by at least one sensor for measuring the current consumption and / or by at least one sensor for measuring the brightness.
• An evaluation-technical single fault safety can - as illustrated in FIG. 3 - be achieved by a so-called cross-comparison between the safety module 10 and the functional control device 5 of the hand control device 4 and / or by evaluation using two processors or circuit arrangements and two evaluation routines.
• the respectively applicable stop category of the at least one emergency stop actuating element 8 can also be shown on the display 14 of the hand control device 4.
• the emergency stop actuating element 8 can be assigned to category 0 for an immediate interruption of the energy supply in relation to the at least one machine operation, or to category 1 for stopping movements or functions in relation to the at least one machine operation and for a subsequent interruption belong to the energy supply.
• the respective stop category 0 or 1 can change or change depending on the use states of the handheld control device 4 or as a function of the operating states of the respective machine control 3, 3 ', as will be explained below.
• a manually operated and / or automated mode switching means 28 for example a key switch or a user authorization means is provided, with which a manually initiated or an automatically executed change between a (i) stationary operating mode of the handheld control device 4 and a (ii) machine control mode, in particular a so-called teach mode, of the handheld control device 4, and vice versa, can be carried out.
• the mode switching means 28 can also include an interaction with an authorization means implemented in terms of software, for example a PIN input, or the reading in of another authorization means.
• the mode switching means 28 can be influenced by the operator's interaction with at least one button on the handheld operating device 4.
• the at least one emergency stop actuating element 8 on the handheld operating device 4 in (i) stationary operating mode of the handheld operating device 4 can be operated or provided as an emergency stop functional element for the immediate interruption of the energy supply in relation to the at least one machine operation.
• the at least one emergency stop actuating element 8 on the hand control device 4 can be operated or provided in (ii) machine influencing mode of the hand control device 4 for stopping movements or functions in relation to the at least one machine operation and for subsequently interrupting the energy supply.
• the at least one emergency stop actuating element 8 in the (i) stationary operating mode of the hand-held operating device 4 can be assigned an at least partially red-colored appearance by activating the at least one illuminant 24 - FIG. 3, while in (ii ) Machine influencing or teach mode that at least one lamp 24 can be deactivated.
• the emergency stop actuating element 8 preferably has no red-colored sections.
• the emergency stop actuating element 8 can have a predominantly gray appearance or a combined gray and yellow appearance.
• the emergency stop actuating element 8 in the second operating mode can have a milky gray shining through and the appearance marked in yellow.
• the mode switching means by placing the handheld operating device 4 at a predefined location or by a predefined assignment and / or attachment to a predefined remote station; such as a wall bracket, is automatically influenced or is switched partially or fully automatically between the two operating modes (i) and (ii) - and vice versa.

Landscapes

• Engineering & Computer Science (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• Manufacturing & Machinery (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Robotics (AREA)
• General Engineering & Computer Science (AREA)
• Quality & Reliability (AREA)
• Computer Networks & Wireless Communication (AREA)
• Signal Processing (AREA)
• Safety Devices In Control Systems (AREA)
• Numerical Control (AREA)
• Manipulator (AREA)

Priority Applications (4)

Applications Claiming Priority (2)

Publications (1)

Family

ID=68807905

Family Applications (1)

Country Status (6)

Cited By (2)

Families Citing this family (3)

Citations (3)

Family Cites Families (18)

• 2018
  • 2018-10-31 AT ATA50938/2018A patent/AT521871B1/de active
• 2019
  • 2019-10-28 EP EP19816499.8A patent/EP3873702B1/de active Active
  • 2019-10-28 CN CN201980080378.8A patent/CN113165179B/zh active Active
  • 2019-10-28 US US17/288,587 patent/US11886163B2/en active Active
  • 2019-10-28 WO PCT/AT2019/060356 patent/WO2020087098A1/de not_active Ceased
  • 2019-10-28 JP JP2021523461A patent/JP7458392B2/ja active Active

Patent Citations (3)

Also Published As

Similar Documents

Legal Events