Safety door monitoring module

Abstract

Safety door monitoring module (16) for monitoring the state of a safety door (14), comprising a base unit (34) for generating a safety door signal and an actuator (36) movable relative to the base unit (34) for actuating the base unit (34), wherein the base unit (34) has an actuator receptacle (38) for receiving the actuator (36) and is configured to generate the safety door signal when the actuator (36) is inserted into the actuator receptacle (38), wherein the actuator (36) has a substantially ring-shaped actuating element (40) that can be inserted into the actuator receptacle (38), and wherein the actuator receptacle (38) and the actuating element (40) are designed such that the actuating element (40) can be inserted into the actuator receptacle (38) in at least two different spatial orientations relative to the base unit (34), thereby characterized by the fact that the at least two different spatial orientations form a first,comprising a second and a third spatial orientation (42, 44, 46) of the actuating element (40) relative to the base unit (34), wherein the second spatial orientation (44) is rotated by 90° about a first spatial axis (50) compared to the first spatial orientation (42), and wherein the third spatial orientation (46) is rotated by 90° about a second spatial axis (52) that is orthogonal to the first spatial axis (50) compared to the second spatial orientation (44).

Description

[0001] The present invention relates to a safety door monitoring module for monitoring the state of a safety door, comprising a basic unit for generating a safety door signal and an actuator movable relative to the basic unit for actuating the basic unit, wherein the basic unit has an actuator receptacle for receiving the actuator and is configured to generate the safety door signal when the actuator is inserted into the actuator receptacle.

[0002] According to a further aspect, the present invention relates to a safety door with a safety door monitoring module of the type mentioned above, wherein the basic device is arranged on a first part of the safety door and the actuator on a second part of the safety door, wherein the first part and the second part of the safety door are separated from each other when the safety door is opened.

[0003] According to a further aspect, the present invention relates to a safety door monitoring system comprising a safety door as access to a safety area, a safety door monitoring module of the type mentioned above, and a control unit which is configured to read the safety door signal and to control a machine or system located in the safety area depending on the safety door signal.

[0004] Safety door monitoring modules of the type mentioned above are also frequently referred to as safety switches. A safety door monitoring module or safety switch of the type mentioned above is known from DE 10 2005 057 108 A1. Further exemplary safety door monitoring modules are known from DE 103 05 704 B3 and DE 10 2008 060 004 A1.

[0005] Standard safety door monitoring modules are used on safety doors, safety flaps, and the like. Although the terms "safety door monitoring module" and "safety door" are used here, the safety door monitoring module according to the invention can be used on any type of separating safety device. The term "safety door" is therefore to be interpreted broadly in this context. Instead of the general term "separating safety device," the term "safety door" will be used exclusively in the following, without this implying any limitation of the protected area.

[0006] Safety doors, on which the safety door monitoring module according to the invention can be used, typically serve as access to a safety area containing an automated machine or system. The machine may be, for example, a robot, a machine tool with a high-speed spindle, a transport or conveyor system, a press, or another machine or system whose operation poses a danger to persons located in the aforementioned safety area or in the machine's working area. The safety door monitoring module can serve as a signaling device, enabling a control unit to detect the closed state of the safety door. The control unit is configured to read the safety door signal generated by the safety door monitoring module and to control the machine based on this signal.For example, the machine can only be operated if the safety door signal is present. In other words, the control unit is configured to allow the machine or system to operate only when it receives the safety door signal from the safety door monitoring module, i.e., when the safety door is closed. If, however, the safety door is opened during operation (if possible), the control unit must bring the machine or system to a safe state, for example, by switching off the power supply to the machine or system.

[0007] There are many machines and systems that continue to pose a hazard for a certain period even after being switched off, for example, because the machine or system is still running down. For such applications, safety door monitoring modules are required that prevent the safety door from being opened until the machine or system has reached a safe state. This function is called interlocking.

[0008] Typically, safety door monitoring modules of this type have an actuator and a corresponding actuator receptacle. The actuator receptacle is part of a base unit, which typically houses other electronic components and from which the connecting cables usually extend, linking the safety door monitoring module to the control unit. Accordingly, the base unit with the actuator receptacle is preferably arranged on a stationary part of the safety door (e.g., on a door frame), while the actuator is preferably arranged on a movable part of the safety door (e.g., on a movable door leaf). This has the advantage that the part of the safety door monitoring module located on the movable part of the safety door does not require a power supply, since usually only the base unit of the safety door monitoring module needs to be powered.

[0009] When the safety door is closed, the actuator engages in the actuator receptacle, which is detected by one or more sensors. In a safety door monitoring module with a locking mechanism, the actuator is also blocked or locked in the actuator receptacle to prevent it from being pulled back. The locking mechanism therefore preferably includes a locking device for securing the actuator element in the actuator receptacle.

[0010] In the latter case, the safety door monitoring module fulfills two functions: firstly, a detection function, which detects the closed position of the safety door, and secondly, a holding function, which prevents the safety door from opening as long as the actuator is locked in its receptacle. The actuator can be released, for example, by an electromechanical actuator, which is activated by the control unit as soon as the monitored machine or system has reached its safe state.

[0011] A safety door monitoring module of this type is marketed by the applicant under the name PSENmlock. This safety door monitoring module functions flawlessly and is versatile in its application. However, the shape and design of the actuator and actuator receptacle of this safety door monitoring module have led to some disadvantages in practice. The actuator of this safety door monitoring module is essentially rod- or pin-shaped. The corresponding actuator receptacle is designed as a blind hole or through hole into which the rod- or pin-shaped actuator is inserted. Firstly, this design presents a relatively high risk of injury, as the actuator, in particular, is inherently prone to injury due to its shape. Secondly, the actuator and actuator receptacle must be aligned relatively precisely with each other, as the rod- or pin-shaped actuator...Otherwise, the pin-shaped actuator would not precisely align with the corresponding blind hole and therefore could not be inserted. Furthermore, the flexibility of the safety door monitoring module leaves much to be desired with regard to different installation situations. Depending on the installation situation, the position and orientation of the actuator must be individually adjusted relative to the actuator receptacle for the aforementioned reasons.

[0012] It is therefore an object of the present invention to provide a safety door monitoring module that is more flexible in terms of different types of installation situations and that also poses a lower risk of injury.

[0013] This task is solved, starting from a safety door monitoring module of the type mentioned above, by the fact that the actuator has an essentially ring-shaped actuating element that can be inserted into the actuator receptacle.

[0014] The essentially ring-shaped actuator element offers several advantages. The ring shape allows for very small pivoting radii. This is particularly beneficial for safety doors designed as small flaps.

[0015] The essentially ring-shaped actuator poses only a relatively low risk of injury, as it has no sharp edges. The actuator is preferably designed in a ring shape.

[0016] The essentially ring-shaped actuator element proves particularly advantageous in terms of the relatively variable options it offers regarding the actuator's insertion direction relative to the actuator receptacle. Due to its ring shape, the actuator element can be easily inserted into the actuator receptacle from different sides. This applies to a wide variety of installation situations. Therefore, the actuator and actuator receptacle do not need to be aligned as precisely as was the case with previously known safety door monitoring modules using rod-shaped actuators and blind-hole actuator receptacles.

[0017] Due to the rotational symmetry of the essentially ring-shaped actuator element, it is possible to change the installation position of the actuator or the actuator receptacle without having to change the installation position of the respective counterpart (actuator or actuator receptacle), since the actuator can still be inserted into the actuator receptacle even after the change. Installation and modification of the safety door monitoring module according to the invention are therefore comparatively simple.

[0018] Furthermore, it is generally possible to use one and the same actuator "left as right", i.e., on both sides, for example in combination with a first actuator receptacle into which the actuator is inserted when the door is open, and a second actuator receptacle into which the actuator is inserted when the door is closed.

[0019] Furthermore, the actuator receptacle, as the counterpart to the essentially ring-shaped actuating element, can be designed to be relatively easily accessible, thus simplifying maintenance and repair of both the actuator and the receptacle. In addition, the actuator and the receptacle are comparatively resistant to dirt.

[0020] The term "essentially annular" is to be interpreted broadly in this context. The addition of "essentially" means, on the one hand, that the actuating element according to the invention need not be completely annular. It is sufficient if only parts of the actuating element are annular. On the other hand, the term "essentially annular" is intended to encompass not only circular structures but also other closed contours that essentially correspond to the shape of a ring. Thus, the actuating element according to the invention, viewed from above, does not necessarily have to be annular, but can, for example, also be oval or polygonal, or have the shape of a loop or any other complex shape that is essentially annular. Therefore, virtually all structures that have a central through-hole surrounded by a closed contour can be considered essentially annular.The closed contour preferably has at least arc-shaped sections.

[0021] The above-mentioned task is therefore completely solved.

[0022] According to a preferred embodiment, the actuator receptacle and the actuator element are designed such that the actuator element can be inserted into the actuator receptacle in at least two different spatial orientations relative to the base device.

[0023] Even if the spatial position of the actuator is changed, it can still be inserted into the actuator receptacle to generate the safety door signal. The actuator can therefore be inserted into the receptacle from two different directions, for example. This is primarily due to the essentially ring-shaped design of the actuator and the resulting possibility of designing the actuator receptacle to be relatively freely accessible for the actuator.

[0024] It is understood that the previously described possibilities for inserting the actuator into the actuator receptacle refer only to general possibilities that are geometrically conceivable. In practice, the spatial position of the actuator relative to the actuator receptacle is usually not changed when the safety door is closed. However, the described fundamental possibility of inserting the actuator into the actuator receptacle from different spatial directions allows for a wide variety of generally conceivable installation options and simplifies the assembly of the safety door monitoring module.

[0025] According to one embodiment, the at least two different spatial orientations comprise a first spatial orientation and a second spatial orientation of the actuating element relative to the base device, wherein the second spatial orientation is rotated by 90° about a first spatial axis compared to the first spatial orientation.

[0026] In other words, the actuator can be rotated 90° around an axis and still be inserted into the actuator receptacle. Put another way, the actuator can be mounted on the safety door in two different spatial orientations, rotated 90° relative to each other, without having to change the orientation of the base unit. It goes without saying that, in practice, an orientation once chosen, which is defined by the mounting of the actuator on the safety door, cannot simply be changed later. However, the point here is the general possibility of different mounting options for the safety door monitoring module according to the invention on a safety door.

[0027] According to a further embodiment, the at least two different spatial orientations in which the actuating element can be inserted into the actuating receptacle relative to the base device comprise a first, a second and a third spatial orientation of the actuating element relative to the base device, wherein the second spatial orientation is rotated by 90° about a first spatial axis compared to the first spatial orientation, and wherein the third spatial orientation is rotated by 90° about a second spatial axis, which is orthogonal to the first spatial axis, compared to the first spatial orientation.

[0028] In other words, the actuator can be rotated 90° in each of two different directions and can still be inserted into the actuator receptacle. The essentially ring-shaped design of the actuator and the corresponding design of the actuator receptacle thus allow for various spatial orientations (positions) of the actuator and actuator receptacle relative to each other.

[0029] According to a further embodiment, the actuating element has at least the shape of a torus in sections.

[0030] According to this design, the actuator element has the shape of a lifebuoy or donut with a circular cross-section. Although other cross-sectional shapes are possible and can still be considered "essentially ring-shaped," a circular cross-section further facilitates the insertion of the actuator element into the actuator receptacle. This shape also prevents the risk of injury, as sharp edges are generally avoided.

[0031] The definition "at least partially the shape of a torus" means that the actuating element does not necessarily have to have the shape of a full torus, but can also have parts of a torus.

[0032] According to a further embodiment, the actuating element has a ring nut.

[0033] This design has the particular advantage that such a ring nut is a standard part. This allows for a reduction in manufacturing costs, especially compared to custom-made components.

[0034] According to a further embodiment, the basic unit has a sensor or a reader that detects whether the actuator is inserted into the actuator receptacle. Preferably, the actuator element has an identification object, and the sensor or reader is configured to detect the identification object automatically and without contact, with the basic unit being configured to generate the safety door signal when the sensor or reader detects the identification object.

[0035] The sensor can be an electromechanical sensor (e.g., a push button). A contactless sensor or reader is particularly preferred. For example, it could be an optical sensor with one or more cameras. Alternatively, it could be an RFID reader that uses an RFID transponder / tag attached to the actuator to detect whether the actuator is inserted into the actuator receptacle. This enables unambiguous identification of the actuator and differentiation from other actuators. This, among other things, increases the tamper resistance of the safety door monitoring module.

[0036] The identification object is preferably an RFID transponder, an RFID tag or an RFID chip that is detectable and uniquely identifiable by the reader integrated into the base unit.

[0037] This design has the advantage that the RFID transponder allows for clear verification of whether the "correct" actuator, and not, for example, a manipulated one, has been inserted into the actuator receptacle. This increases tamper resistance.

[0038] According to a further embodiment, the actuator element has at least one receptacle in which the identification object can be mounted. Preferably, the identification object (e.g., the RFID transponder / tag / chip) can be detachably mounted in the at least one receptacle of the actuator element. This allows for easy replacement of the identification object in the event of a malfunction.

[0039] Particularly preferably, the actuator element according to this embodiment has several receptacles in which the identification object can be detachably mounted. This makes it possible to mount the identification object in a suitable receptacle on the actuator element, depending on the installation situation of the actuator and the actuator receptacle. This further increases the flexibility of the safety door monitoring module with regard to various installation variants.

[0040] According to a further embodiment, the actuator has a mounting base to which the actuator element is arranged, wherein the actuator element has a first identification object and the mounting base has a second identification object, wherein the basic device is configured to generate the safety door signal when the sensor or reader detects the first and the second identification object.

[0041] The two identification objects mentioned are preferably two different RFID transponders / tags / chips. This design further increases the tamper resistance of the safety door monitoring module, as the safety door signal is only generated when the sensor or reader detects both identification objects simultaneously. This increases the certainty that the actuator is correctly inserted into the actuator receptacle. It also ensures that the actuator is not damaged, for example, that the actuator element has not broken off from the mounting base. Furthermore, other applications are conceivable in which the two different identification objects enable different identification codes.

[0042] According to a further embodiment, the actuator has a holder to which the actuating element is detachably attached, whereby the actuating element can be adjusted in its position relative to the holder and locked in a desired position on the holder.

[0043] Depending on the installation situation, the position of the ring-shaped actuator element can be changed relative to the actuator bracket. The actuator bracket can, for example, be mounted on the aforementioned mounting base. This design is particularly advantageous in combination with the previously mentioned use of one or more identification objects attached to the actuator element, as the adjustability of the actuator element offers a relatively simple and precise way to align the at least one identification object relative to the sensor or reader located in the base unit.

[0044] According to a further embodiment, the actuator receptacle, viewed in a longitudinal section of the base unit, is claw-, hook- or U-shaped and accessible to the actuator element from a swivel range extending over at least 90° and lying in a plane that is orthogonal to the longitudinal section.

[0045] In other words, the actuator receptacle is designed such that it is accessible to the actuator element from various directions within the specified pivot range or in the specified plane. Preferably, the specified pivot range extends over at least 120°. This further increases the mounting flexibility of the safety door monitoring module according to the invention. The safety door monitoring module is thus suitable for safety doors designed as sliding doors as well as for safety doors designed as swing doors. In the latter case (swing door), the variable accessibility of the actuator receptacle for the actuator element also enables applications in swing doors with very small swing radii.

[0046] According to a further embodiment, the actuator receptacle has a locking device for locking the actuator element in the actuator receptacle.

[0047] This locking device enables the interlock function described above. Preferably, the locking device is a mechanical locking device that engages in the central opening of the annular actuator element. This guarantees a secure interlock that withstands high forces.

[0048] According to one embodiment, the locking device has a locking element that can be electrically controlled in order to release it and thus free the actuating element.

[0049] As mentioned earlier, this locking element can be controlled via the control unit of the safety door monitoring system as soon as the machine to be secured is in a safe state. The locking element can be, for example, a mechanical or a magnetic locking element.

[0050] If the locking element is a mechanical locking element, it is preferably spring-loaded. This has the advantage that the locking element retracts due to the spring action when the actuator is inserted into the actuator receptacle. The actuator can thus be inserted into the actuator receptacle very easily, with the locking device being automatically activated. The automatic activation of the locking device is preferably achieved by designing the locking element such that, due to its spring action, it retracts when the actuator is inserted into the actuator receptacle, but then blocks the actuator within the actuator receptacle.Only through the previously discussed electrical activation upon release by the control unit of the safety door monitoring system is the locking device released again, so that the actuator element can be detached from the actuator receptacle.

[0051] According to one embodiment, the locking device has at least one of the following components: - a rotatably mounted angle lever that engages with the essentially ring-shaped actuating element; - a spring-loaded pawl; or - two spring-loaded locking parts that engage in the essentially ring-shaped actuating element in the manner of pliers.

[0052] Naturally, the components mentioned above can also be combined with each other. All of these components are relatively inexpensive, yet they reliably ensure a secure locking mechanism for the actuator and thus the proper functioning of the safety door monitoring module.

[0053] As mentioned at the outset, another aspect of the present invention relates to a safety door on which a safety door monitoring module according to the invention is mounted. The embodiments mentioned above and defined in the dependent claims also apply equivalently to the safety door with the safety door monitoring module according to the invention.

[0054] The safety door preferably comprises a first part, on which the base unit of the safety door monitoring module is arranged, and a second part, on which the actuator of the safety door monitoring module is arranged. The two parts of the safety door are separated from each other when the safety door is opened. Therefore, the actuator element of the actuator is only located in the actuator receptacle of the base unit when the safety door is closed.

[0055] Preferably, the first part of the safety door, on which the base unit is mounted, is a stationary part of the safety door (e.g., a door frame or jamb). Similarly, the second part of the safety door, on which the actuator is mounted, is preferably a movable door element (e.g., a door leaf). Mounting the base unit on the stationary part of the safety door has the advantage that the part of the safety door monitoring module mounted on the movable part of the safety door does not require a power supply, since typically only the base unit of the safety door monitoring module needs to be powered.

[0056] As already mentioned at the outset, another aspect of the present invention relates to a safety door monitoring system which includes a safety door of the aforementioned type (including the safety door monitoring module according to the invention).

[0057] According to one embodiment, the safety door monitoring system according to the invention has not just one basic unit of the safety door monitoring module, but two basic units of the safety door monitoring module. According to this embodiment, however, a single actuator is still sufficient.

[0058] According to the aforementioned embodiment, the safety door monitoring module thus comprises a first basic unit with a first actuator receptacle for receiving the actuator and a second basic unit with a second actuator receptacle for receiving the actuator. The first and second basic units are each configured to generate a first and a second safety door signal, respectively, when the actuator is inserted into the first and second actuator receptacles, respectively. According to this embodiment, the two basic units are arranged such that the actuator is inserted into the first actuator receptacle when the safety door is in a closed position, and that the actuator is inserted into the second actuator receptacle when the safety door is in an open position.The control unit is then set up to read the first and second safety door signals and to control the machine or system located in the safety area depending on the first and second safety door signals.

[0059] In other words, this means that the safety door monitoring module according to the invention can be equipped with two basic units, one of which monitors the closed state of the safety door and the other the open state. Thus, reliable monitoring, preferably including interlocking, of both door states is ensured with one and the same safety door monitoring module. One reason why this is possible is again the previously described flexible insertion of the actuator or actuator element into the respective actuator receptacle. Due to the essentially ring-shaped design of the actuator element, it can be used on either the left or right side.When positioned on a sliding door or a swing door, the essentially ring-shaped actuating element of the actuator can be inserted into two opposing actuator receptacles of different base units without having to change the orientation of the actuator relative to the sliding / swing door.

[0060] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0061] Exemplary embodiments of the invention are shown in the drawings and are explained in more detail in the following description. They show... Fig. 1 a schematic representation of a safety door monitoring system according to an embodiment of the present invention; Fig. 2 a perspective view of a safety door monitoring module according to an embodiment of the present invention in an open position; Fig. 3 a perspective view of the in Fig. 2 safety door monitoring module shown in a closed position; Fig. 4 a perspective view showing various installation options for an actuator of the in Fig. 2 and Fig. 3 shown safety door monitoring modules are depicted; Fig. 5A a perspective view of the actuator of the safety door monitoring module according to a second embodiment; Fig. 5B a top view of the in Fig. Actuator shown in 5A; Fig. 6A a perspective view of the actuator of the safety door monitoring module according to a third embodiment; Fig. 6B a top view of the in Fig. Actuator shown in 6A; Fig. 7A a longitudinal sectional view of an actuator receptacle and an actuator of the safety door monitoring module according to a further embodiment in the open position; Fig. 7B a longitudinal section view of the in Fig. Actuator receptacle shown in 7A and the one in Fig. Actuator shown in 7A in a closed position; Fig. 8A a longitudinal sectional view of the actuator receptacle and the actuator of the safety door monitoring module according to a further embodiment in an open position; Fig. 8B a longitudinal section view of the in Fig. Actuator receptacle shown in 8B and the one in Fig. Actuator shown in 8B in a closed position; Fig. 9A a sectional view of the actuator receptacle and the actuator of the safety door monitoring module according to a further embodiment in an open position; Fig. 9B a sectional view of the actuator mount from Fig. 9A and the actuator from Fig. 9A in a closed position; Fig. 10A a longitudinal sectional view of the actuator receptacle and the actuator of the safety door monitoring module according to a further embodiment in an open position; Fig. 10B a longitudinal section view of the in Fig. Actuator receptacle shown in 10A and the one in Fig. Actuator shown in 10A in a closed position; Fig. 11A a schematic representation of a first application example of the safety door monitoring module according to the invention in a first position; Fig. 11 B a schematic representation of the in Fig. 11A first application example of the safety door monitoring module according to the invention in a second position; Fig. 12A a schematic representation of a second application example of the safety door monitoring module according to the invention in a first position; Fig. 12B a schematic representation of the in Fig. 12A second application example of the safety door monitoring module according to the invention in a second position; Fig. 13A a schematic representation of a third application example of the safety door monitoring module according to the invention in a first position; Fig. 13B a ​​schematic representation of the in Fig. 13A, the third application example of the safety door monitoring module according to the invention, in a second position; and Fig. 14A-14E a schematic representation of several embodiments of an essentially ring-shaped actuator element, each in a top view.

[0062] Fig. Figure 1 shows a schematic view of an embodiment of a safety door monitoring system according to the invention. The safety door monitoring system as a whole is designated by reference numeral 10.

[0063] The safety door monitoring system 10 includes a robot 12 whose work area is secured by a safety door 14. A safety door monitoring module 16 according to the present invention is arranged on the safety door 14. The safety door monitoring module 16 comprises a door part 17, which is arranged on the movable door element (door leaf) of the safety door 14, and a frame part 18, which is arranged on a stationary second part 20 of the safety door. In the illustrated embodiment, the stationary second part 20 of the safety door 14 is a door frame or door jamb. In other embodiments, this second stationary part 20 of the safety door 14 can also be a second door leaf of a two-part safety door.

[0064] The frame part 18 is connected to a safety switching device 26 via two lines 22, 24. The safety switching device 26 is, for example, a safety switching device from the PNOZ® series, which is marketed by the applicant of the present invention. It is a multi-channel redundant safety switching device designed to evaluate the output signals of signaling devices, such as the safety door monitoring module 16, and to disconnect an electrical load accordingly. In this case, the electrical load is the robot 12. Accordingly, the safety switching device 26 controls two contactors 28, 30, whose normally open contacts are located in the connection between a power supply 32 and the robot 12.As an alternative to the safety switching device 26, the safety door monitoring module 16 could also be connected to a programmable safety controller, such as the one marketed by the applicant of the present invention under the name PSS®. The safety switching device 26 is therefore hereinafter generally referred to as the control unit 26 of the safety door monitoring system 10, without thereby being limited to a specific embodiment of this control unit. Several exemplary embodiments of the safety door monitoring module 16 according to the invention are described below. Identical or equivalent components are designated by the same reference numerals.

[0065] Fig. 2 and Fig. Figure 3 shows a first embodiment of the safety door monitoring module 16, each in a perspective view. Fig. Figure 2 shows the safety door monitoring module 16 in an open position of the safety door 14. Fig. Figure 3 shows the safety door monitoring module 16 in a closed position of the safety door 14.

[0066] The safety door monitoring module 16 comprises a base unit 34. The base unit 34 preferably has one or more sensors and / or other electronic components and is therefore preferably connected to a power supply. Furthermore, the base unit 34 is preferably connected to the control unit 26 via multi-channel redundant lines, such as lines 22 and 24. The base unit 34 therefore preferably forms the aforementioned frame part 18 of the safety door monitoring module 16.

[0067] Although it would also be conceivable to use the basic unit 34 as the door part 17 of the safety door monitoring module 16, this is less preferred. In such a case, the usually fixed wiring to the control unit 26 and the power supply would have to be routed to the movable part of the safety door 14, which is generally more complicated than routing the lines 22, 24 and the power supply to the static part 20 of the safety door 14.

[0068] The safety door monitoring module 16 also includes an actuator 36. This actuator 36 acts as a counterpart to the base unit 34. The actuator 36 serves to actuate the base unit 34. The base unit 34 has a corresponding actuator receptacle 38 into which the actuator 36 can be inserted (see Fig. 3).

[0069] One function of the basic unit 34 is to detect whether the actuator 36 is inserted into the actuator receptacle 38 or not. The basic unit 34 is configured to generate a safety door signal when the actuator 36 is inserted into the actuator receptacle 38. This safety door signal is preferably generated as an electrical signal. It can be a digital, pulsed, coded, and / or other (preferably electrical) signal. By evaluating the safety door signal in the control unit 26, the safety door monitoring system 10 can unambiguously determine at any time whether the safety door 14 is closed or not. The robot 12 can then be controlled accordingly so that it can only be operated when the safety door 14 is closed.

[0070] The actuator 36 of the safety door monitoring module 16 has a substantially ring-shaped actuating element 40 that can be inserted into the actuator receptacle 38. As shown in Fig. As shown in Figure 3, the essentially ring-shaped actuator element 40 is inserted into the actuator receptacle 38 when the safety door 14 is closed. Due to its ring shape, the actuator element 40 can be inserted into the actuator receptacle 38 relatively easily and from various sides. This also makes even the smallest pivot radii, such as those encountered with smaller flaps or very small safety doors, possible. Due to its shape, the actuator element 40 poses virtually no risk of injury, as it has neither sharp nor angular edges.

[0071] Another advantage of the essentially ring-shaped design of the actuator element 40 is that it can be inserted into the actuator receptacle 38 not only from different feed directions, but also in different spatial orientations. Fig. Figure 4 schematically shows four different spatial orientations of the actuator 40. Reference numeral 42 denotes a first spatial orientation of the actuator 40, reference numeral 44 a second spatial orientation, reference numeral 46 a third spatial orientation, and reference numeral 48 a fourth spatial orientation. In the second spatial orientation 44, the actuator 40 is rotated, for example, by 90° about a first spatial axis 50 compared to its first spatial orientation 42. In the third spatial orientation 46, the actuator 40 is rotated, for example, by 90° about a second spatial axis 52 compared to its second spatial orientation 44. In other words, the third spatial orientation 46 is rotated, compared to the first spatial orientation 42, by 90° about the first spatial axis and by a further 90° about the second spatial axis.In the fourth spatial orientation 48, the actuator 40 is rotated 180° around the second spatial axis 52 compared to its third spatial orientation 46. In other words, in the fourth spatial orientation 48, the actuator 40 is rotated 90° around the first spatial axis 50 and a further 180° around a third spatial axis 54 compared to its first spatial orientation 42. All three spatial axes 50, 52, and 54 are orthogonal to each other.

[0072] In all the in Fig. In the spatial orientations shown in the four images, the actuator element 40 can be easily inserted into the actuator receptacle 38. As can be easily seen, the elements shown in Fig. The four orientation options shown are only four examples. Of course, various other orientation options for the actuator element relative to the actuator receptacle 38 are possible, under which the intended use of the safety door monitoring module 16 according to the invention can still be realized. The safety door monitoring module 16 according to the invention is therefore suitable for a wide variety of installation situations and can be used in various different applications. This is based in particular on the rotationally symmetrical design of the actuator element 40.

[0073] However, it is understood that if the actuator element 40 is mounted on the safety door 14, typically only one of the Fig. The four exemplary installation options shown are selected, and these are usually not changed afterwards. To facilitate assembly, the actuator 36 preferably has a mounting base 56. In the embodiment shown here, a ring nut 58 serves as the essentially ring-shaped actuating element 40. This ring nut 58 is detachably fastened to the mounting base 56, in this case by means of a screw.

[0074] Furthermore, it goes without saying that the in Fig. The four orientations shown are only some of the many possible orientations of the actuator element 40. For example, intermediate layers are also conceivable, which are spatially located between the in Fig. 4 shown orientations are located.

[0075] The shape of the actuating element 40 does not necessarily have to be torus-shaped, as shown in the Fig. This is the case in the embodiment shown in section 4. Further embodiments of the essentially ring-shaped actuating element 40 are shown in Fig. 14A-14E are each shown schematically in a top view. Fig. In 14A, the actuator element 40 is annular in plan view. Fig. In 14B, the actuator element 40 is oval in the top view. Fig. In 14C, the actuator element 40 is polygonal in the top view. According to the Fig. In the embodiment shown in Figure 14D, the inner contour of the actuator element 40 in the top view differs from the outer contour of the actuator element 40. While the inner contour is essentially triangular in the top view, the outer contour is circular in the top view. Fig. In the 14E, the actuator element 40 is designed as a semi-circular loop mounted on a plate or base. All those in Fig. The forms of the actuating element 40 shown in Figures 14A-14E are to be regarded as “essentially ring-shaped” in the sense of the invention.

[0076] Fig. 5 and Fig. Figure 6 shows two further embodiments of the actuator 36. In each of these embodiments, the mounting base 56 has a holder 60 to which the ring-shaped actuator element 40 is detachably attached. This holder 60 is shown in the two illustrations. Fig. 5 and Fig. In the cases shown, the ring-shaped actuator 40 is designed as a clamping bracket. It is thus freely adjustable relative to the bracket 60. In particular, the ring-shaped actuator 40 can be rotated about its central axis, which forms the axis of symmetry of the ring-shaped actuator 40.

[0077] In the Fig. 5A and Fig. In the embodiment shown in Figure 5B, the actuating element 40 has several receptacles 62 for each receiving an identification object 64. The receptacles 62 are located in the Fig. 5A and Fig. In the case shown in Figure 5B, the bores are designed as blind holes. The identification object 64 is preferably an identification object that makes the ring-shaped actuating element 40 uniquely identifiable. A sensor or reader 66 can be integrated into the base unit 34 for the detection of the identification object 64 (see Figure 5B). Fig. 7A and Fig. 7B), which is configured to automatically and contactlessly detect the identification object 64. Accordingly, the control unit 26 only outputs the safety door signal if the reader 66 clearly detects the presence of the identification object 64. In this way, the tamper resistance of the safety door monitoring system 10 can be increased.

[0078] For example, the identification object 64 is an RFID transponder and the reader 66 is a corresponding RFID reader. Similarly, the locking function of the safety door monitoring module 16 can only be activated if the presence of the RFID transponder is clearly identified.

[0079] At the in Fig. 6A and Fig. In the embodiment shown in Figure 6B, the identification object 64 (e.g., the RFID transponder) is arranged in an annular recess provided on the circumference of the actuator element 40. This has the particular advantage that the position of the identification object 64 does not need to be changed if the orientation of the actuator element 40 relative to the holder 60 is changed. In such a case, the identification object 64 would have to be arranged in a different receptacle 62.

[0080] Fig. Figures 7-10 schematically show several further embodiment variants of the safety door monitoring module 16 according to the invention, which differ from each other in particular in the design of the basic device 34 or the actuator receptacle 38 provided on it.

[0081] In the Fig. 7A and Fig. In the embodiment shown in Figure 7B, the actuator receptacle 38, viewed in longitudinal section of the base unit 34, is essentially U-shaped. The Fig. 7A and Fig. However, the longitudinal section shape shown in Figure 7B could also be described as claw- or hook-shaped.

[0082] One advantage of this relatively open design of the actuator receptacle 38, as it is in Fig. 7A and Fig. Figure 7B shows the simple and versatile way in which the ring-shaped actuating element 40 can be fed into the actuating receptacle 38. As can also be seen by looking at it together with Fig. As can be seen in Figure 4, with such a design of the actuator element 40 and the actuator receptacle 38, the actuator element 40 can be inserted into the actuator receptacle 38 from a relatively large swivel range. Fig. 7A and Fig. Figure 7B schematically depicts a plane with a dashed line in which the possible swivel range of the actuating element 40 lies. This plane 68 is orthogonal to the longitudinal section plane of the in Fig. 7A and Fig. The longitudinal section views shown in Figure 7B are aligned. Within this plane 68, the ring-shaped actuator element 40 can be reliably inserted into the actuator receptacle 38 over a pivoting range of at least 90°, preferably at least 120°. This enables a variety of different application possibilities for the safety door monitoring module 16 according to the invention.

[0083] The actuator receptacle 38 preferably has a locking device 70 for locking the actuator element 40 in the actuator receptacle 38. In the Fig. 7A and Fig. In the embodiment shown in Figure 7B, this locking device comprises a spring-loaded locking pawl 72. This locking pawl 72 ensures pre-centering and simultaneously locking of the actuator element 40 in the actuator receptacle 38. This enables the function of locking the safety door 14.

[0084] Instead of a locking pawl, the locking device 70 can also have other types of locking elements 71. Regardless of the specific design of the locking element 71, it is preferred that this locking element 71 be electrically controllable in order to release it and thus automatically release the actuating element 40. For example, the control unit 26 releases the interlock effected by the safety door monitoring module 16 in this way as soon as the robot 12 has reached a safe state. A user can then again open the safety door 14, which is held closed by the safety door monitoring module 16, and gain access to the robot 12's work area.

[0085] Fig. 8A and Fig. Figure 8B shows an embodiment in which the actuator receptacle 38 has a rotatably mounted angle lever 74 which engages in the central opening of the annular actuator element 40 as soon as the actuator element 40 is inserted into the actuator receptacle 38 (see Figure 8B). Fig. 8B). The angle lever 74 can be locked or secured by means of a detent element 76, which functions as a locking element 71.

[0086] In the Fig. 9A and Fig. In the embodiment shown in Figure 9B, the locking device 70 has two spring-loaded locking parts 78 which engage the annular actuator element 40 in the manner of pliers as soon as the latter is inserted into the actuator receptacle 38. The two locking parts 78 are spring-loaded and rotatable about axes of rotation parallel to each other. This design also allows the actuator 36 to be inserted vertically from above into the actuator receptacle 38.

[0087] Fig. 10A and Fig. Figure 10B shows a further embodiment of the actuator 36 and the actuator receptacle 38. The shape and design of the actuator 36 and the actuator receptacle 38 are similar to that shown in Fig. 7A and Fig. In the embodiment shown in Figure 7B, an additional identification object 65 is arranged in the mounting base 56 of the actuator 36. This additional identification object 65, similar to the first identification object 64 located in the ring-shaped actuator element 40, can be designed as an RFID transponder. Accordingly, the base unit 34 is provided with either two sensors / readers 66, 67 or one sensor / reader capable of detecting and identifying both identification objects 64, 65. According to this embodiment, the control unit 26 is preferably configured to generate the safety door signal only when both identification objects 64, 65 are detected and identified. This prevents, for example, the safety door signal from being generated even if the ring-shaped actuator element 40 has become detached from the mounting base 56 due to breakage or other damage.

[0088] A second possible application of such an embodiment with two different identification objects 64, 65 is the securing of two different rooms with two different doors using only one interlock, i.e., only one basic device 34. For example, it may be necessary to open one room before the other room can be locked. Here, the present embodiment has the advantage that, due to the two different identification objects 64, 65, the interlock can indicate which of the two doors is locked. Such an application is described in Fig. 11A and Fig. Figure 11B shows a schematic representation. For example, door 80 can only be closed when door 82 is opened. In this case, the safety door monitoring module 16 has a base unit 34 with an actuator receptacle 38 into which both actuator elements 40, 40' can be inserted alternately.

[0089] Further application possibilities of the safety door monitoring module 16 according to the invention are described in the Fig. 12 and Fig. Figure 13 illustrates that the actuator 36 can be used "left or right". The safety door 14 can therefore have a safety door monitoring module 16 with one actuator 36, but two base units 34, 34' or two actuator receptacles 38, 38'. The two base units 34, 34' can, for example, be arranged such that the first base unit 34 detects the closed position of the safety door 14 and the second base unit 34' detects the open position of the safety door 14. The actuator 36 can be easily inserted into the actuator receptacles 38, 38' of both base units 34, 34' without modification or change to its spatial orientation. In this way, different safety door signals can be transmitted to the control unit 26, namely, for example...a first safety door signal generated by the first basic unit 34 when the safety door 14 is in its closed position, and a second safety door signal generated by the second basic unit 34' when the safety door 14 is in its open position.

[0090] This principle applies not only to a sliding door 14, as shown schematically in Fig. 12A and Fig. The diagram shown in 12B is applicable not only to the swing door, but also in an equivalent form. The latter is shown in Fig. 13A and Fig. Figure 13B illustrates the additional aspect that it is generally possible to safely monitor two different rooms 84, 86 with one and the same safety door 14 and a safety door monitoring module 16, which has a single actuator 36 but two basic units 34, 34'. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 102005057108 A1

[0004] DE 10305704 B3

[0004] DE 102008060004 A1

[0004]

Claims

[1] Safety door monitoring module (16) for monitoring the state of a safety door (14), comprising a basic unit (34) for generating a safety door signal and an actuator (36) movable relative to the basic unit (34) for actuating the basic unit (34), wherein the basic unit (34) has an actuator receptacle (38) for receiving the actuator (36) and is configured to generate the safety door signal when the actuator (36) is inserted into the actuator receptacle (38), characterized by , that the actuator (36) has an essentially ring-shaped actuator element (40) which can be inserted into the actuator receptacle (38). [2] Safety door monitoring module according to claim 1, wherein the actuator receptacle (38) and the actuator element (40) are designed such that the actuator element (40) can be inserted into the actuator receptacle (38) in at least two different spatial orientations relative to the base unit (34). [3] Safety door monitoring module according to claim 2, wherein the at least two different spatial orientations comprise a first spatial orientation (42) and a second spatial orientation (44) of the actuating element (40) relative to the base unit (34), wherein the second spatial orientation (44) is rotated by 90° about a first spatial axis (50) compared to the first spatial orientation (42). [4] Safety door monitoring module according to claim 2, wherein the at least two different spatial orientations comprise a first, a second and a third spatial orientation (42, 44, 46) of the actuator element (40) relative to the base unit (34), wherein the second spatial orientation (44) is rotated by 90° about a first spatial axis (50) compared to the first spatial orientation (42), and wherein the third spatial orientation (46) is rotated by 90° about a second spatial axis (52) which is orthogonal to the first spatial axis (50) compared to the second spatial orientation (44). [5] Safety door monitoring module according to one of claims 1-4, wherein the actuating element (40) has at least sectionally the shape of a torus. [6] Safety door monitoring module according to one of claims 1-5, wherein the actuating element (40) has a ring nut (58). [7] Safety door monitoring module according to one of claims 1-6, wherein the basic device (34) has a sensor or a reader (66) which detects whether the actuator (36) is inserted into the actuator receptacle (38). [8] Safety door monitoring module according to claim 7, wherein the actuating element (40) has an identification object (64) and the sensor or reader (66) is configured to automatically and non-contactly detect the identification object (64), and wherein the basic unit (34) is configured to generate the safety door signal when the sensor or reader (66) detects the identification object (64). [9] Safety door monitoring module according to one of claims 1-8, wherein the actuator (34) has a holder (60) to which the actuator element (40) is detachably attached, wherein the actuator element (40) can be adjusted in its position relative to the holder (60) and can be locked in a desired position on the holder (60). [10] Safety door monitoring module according to one of claims 1-9, wherein the actuator receptacle (38) is claw-, hook- or U-shaped when viewed in a longitudinal section of the base unit (34) and is accessible to the actuator element (40) from a pivot range extending over at least 90° and lying in a plane (68) that is orthogonal to the longitudinal section. [11] Safety door monitoring module according to one of claims 1-10, wherein the actuator receptacle (38) has a locking device (70) for locking the actuator element (40) in the actuator receptacle (38). [12] Safety door monitoring module according to claim 11, wherein the locking device (70) has a locking element (71) which can be electrically controlled to release it and thus release the actuating element (40). [13] Safety door monitoring module according to claim 11 or 12, wherein the locking device (70) comprises at least one of the following components: - a rotatably mounted angle lever (74) which engages in the essentially ring-shaped actuating element (40); - a spring-loaded pawl (72); or - two spring-loaded locking parts (78) which engage in the essentially ring-shaped actuating element (40) in the manner of pliers. [14] Safety door monitoring system (10) with: - a protective door (14) as access to a security area, - a safety door monitoring module (16) according to one of claims 1-13 for monitoring a state of the safety door (14); and - a control unit (26) which is designed to read the safety door signal and to control a machine or system (12) located in the safety area depending on the safety door signal. [15] Safety door monitoring system according to claim 14, wherein the safety door monitoring module (16) further comprises a second basic unit (34) with a second actuator receptacle (38') for receiving the actuator (36), wherein the second basic unit (34') is configured to generate a second safety door signal when the actuator (36) is inserted into the second actuator receptacle (38'), wherein the actuator (36) is inserted into the actuator receptacle (38') when the safety door (14) is in a closed position, and wherein the actuator (36) is inserted into the second actuator receptacle (38') when the safety door (14) is in an open position, wherein the control unit (26) is configured to also read the second safety door signal and to control the machine or system (12) located in the safety area also depending on the second safety door signal.

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