Safety Gate Monitoring Module

A safety gate monitoring module is configured to monitor a state of a safety gate. A base device includes an actuator receptacle configured to receive an actuator and generates the safety gate signal in response to the actuator being inserted into the actuator receptacle. The base device includes a first interface, an axis, and a first end face arranged transversely to the axis. A mounting bracket includes a second interface configured to be coupled to the first interface of the base device in a first position, a second position rotated clockwise by 90° with respect to the first position, and a third position rotated clockwise by 90° with respect to the second position. The first and second interfaces include a mechanical blocking device that prevents coupling of the first and second interfaces in a fourth position rotated clockwise by 90° with respect to the third position.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to German patent application DE 10 2022 128 727, filed on Oct. 28, 2022. The entire content of this priority application is incorporated herein by reference.

FIELD

The present disclosure relates to a safety gate monitoring module having a base device for monitoring a state of a safety gate.

BACKGROUND

Safety gate monitoring modules of the abovementioned type are often also referred to as safety switches. Example safety gate monitoring modules or safety switches are disclosed in DE 10 2005 057 108 A1, DE 103 05 704 B3, DE 10 2008 060 004 A1 and DE 10 2020 120 817 A1.

Safety gate monitoring modules are usually used on safety gates, safety flaps and the like. Although the terms “safety gate monitoring module” and “safety gate” are used in the present case, the safety gate monitoring module according to the invention can be used on any type of separating protective device. The term “safety gate” in the present sense should accordingly be interpreted broadly. Instead of the general term “separating protective device”, only the term “safety gate” is therefore used below, without this being intended to restrict the scope of protection.

Safety gates on which the safety gate monitoring module according to the disclosure can be used, for example, typically serve as an access to a safety area in which an automatically operating machine or system is located. The machine can be, for example, a robot, a machine tool with a fast-rotating spindle, a transport or conveying system, a press or some other machine or system whose operation poses a risk to persons who are in the aforementioned safety area or in the working area of the machine. The safety gate monitoring module can serve as a signalling device, with the aid of which a control unit can detect the closed state of the safety gate. The control unit is configured to read out the safety gate signal generated by the safety gate monitoring module and to control the machine in accordance with the safety gate signal. For example, the machine can only be operated if the safety gate signal is present. In other words, the control unit is configured to allow operation of the machine or system only if it receives the safety gate signal from the safety gate monitoring module, i.e. if the safety gate is closed. If, on the other hand, the safety gate is opened during operation (if possible), the control unit must bring the machine or system into a safe state in which, for example, the power supply to the machine or system is switched off.

There are a large number of machines and systems that still pose a risk for a certain period of time even after they have been switched off, for example because the machine or system is still running down. For such applications, there is a need for safety gate monitoring modules which prevent the safety gate from opening until the machine or system has reached its safe state. This function is referred to as a guard lock function.

Traditionally, safety gate monitoring modules of the present type have what is referred to as an actuator and an actuator receptacle functioning as a counterpart thereto. The actuator receptacle is part of a base device, in which further electronic components are typically accommodated and from which the connecting cables that connect the safety gate monitoring module to the control unit usually originate. Accordingly, the base device with the actuator receptacle may be arranged on an immovable part of the safety gate (e.g. on a door frame), while the actuator may be arranged on a movable part of the safety gate (e.g. on a movable door leaf). This has an advantage that the part of the safety gate monitoring module that is arranged on the movable part of the safety gate does not need to be supplied with power since, as a rule, only the base device of the safety gate monitoring module has to be supplied with power.

When the safety gate is closed, the actuator engages in the actuator receptacle, this being detected with the aid of one or more sensors. In the case of a safety gate monitoring module with a guard lock system, the actuator is also blocked or locked in the actuator receptacle against retraction. The “guard lock system” therefore may include a locking device for locking the actuator in the actuator receptacle.

In the latter case, the safety gate monitoring module thus performs two functions, namely on the one hand a detection function, with the aid of which the closed position of the safety gate is detected, and on the other hand a guard lock function, which prevents the safety gate from opening as long as the actuator is locked in the actuator receptacle. The actuator can be released, for example, by means of an electric-motor actuator, which is actuated by the control unit as soon as the monitored machine or system has assumed its safe state.

A safety gate monitoring module of this type is marketed by the applicant under the name PSENmlock. This safety gate monitoring module works flawlessly and is versatile. If the actuator of the safety gate monitoring module is substantially rod-shaped or pin-shaped and the actuator receptacle functioning as a counterpart thereto is configured as a through groove, as a U-shaped opening, or as a blind hole or through-hole, into which the rod-shaped or pin-shaped actuator is inserted, this type of configuration results in a relatively high potential for injury since the actuator, in particular, poses a high risk of injury on account of its shape. On the other hand, the actuator and the actuator receptacle must be aligned relatively exactly with respect to one another since otherwise the rod-shaped or pin-shaped actuator does not exactly match the position of the associated through groove, the associated U-shaped opening, the associated blind hole or the associated through-hole and thus cannot be inserted therein.

DE 10 2020 120 817 A1 describes a safety gate monitoring module which, by virtue of an annular actuator element, offers increased flexibility with regard to different installation situations in comparison with a rod-shaped or pin-shaped actuator.

SUMMARY

Depending on the installation situation, the position and alignment of the actuator must be adjusted relative to the actuator receptacle for the aforementioned reasons. The installation situation can be characterized, for example, by the type of safety gate (e.g. pivoting safety gate or sliding safety gate), by the spatial alignment of the immovable part of the safety gate and the movable part of the safety gate relative to one another and/or by the available installation space on the movable or immovable part of the safety gate, etc.

In addition, there is the possibility of incorrect assembly, in which a user installs the safety gate monitoring module in such a way that, while being in the same spatial position, the actuator and actuator receptacle are aligned with respect to one another spatially in such a way that the actuator cannot be inserted into the actuator receptacle.

The present disclosure relates to a safety gate having a safety gate monitoring module of the abovementioned type, wherein the base device is arranged on a first part of the safety gate, and an actuator is arranged on a second part of the safety gate, wherein the first part and the second part of the safety gate are separated from one another when the safety gate is opened.

According to a further aspect, the present disclosure relates to a safety gate monitoring system having a safety gate as an access to a safety area, a safety gate monitoring module of the type mentioned above, and a control unit, which is configured to read out the safety gate signal and to control a machine or system located in the safety area in accordance with the safety gate signal.

It is an object to provide a safety gate monitoring module which can be handled easily and flexibly by a user in relation to different installation situations and prevents incorrect assembly.

The safety gate monitoring module includes a base device including an actuator receptacle and a mounting bracket that is configured to be coupled to an interface of the base device in a first position, a second position rotated clockwise by 90° with respect to the first position about the axis of the base device, and a third position rotated clockwise by 90° with respect to the second position about the axis of the base device, wherein the mounting bracket and the base device include a mechanical blocking device that is configured to prevent coupling of the mounting bracket to the interface of the base device in a fourth position rotated clockwise by 90° with respect to the third position about the axis of the base device.

An advantage of the present disclosure is that a user (e.g. a fitter) can easily and flexibly assemble the safety gate monitoring module in various installation situations. With the aid of the mounting bracket, one and the same base device can be aligned and fixed/fastened in different spatial orientations with respect to a mounting surface on a safety gate, depending on the existing installation situation. For example, in a first position, a second position, or a third position, the mounting bracket is coupled to the base device and attached to a mounting surface or safety gate (e.g. a door frame), enabling the actuator receptacle to receive the actuator.

At the same time, incorrect assembly of the base device with respect to an alignment of the base device that is not suitable for reception of the actuator is advantageously avoided by virtue of the fact that the mounting bracket can be fixed or fastened on the base device only in the predefined positions and thus the base device too can be fixed or fastened on a safety gate only in predefined alignments relative to a mounting surface or on a safety gate. An unfavourable alignment of the safety gate monitoring module relative to a mounting surface, in which the actuator cannot or can only with difficulty engage in the actuator receptacle, is avoided by the base device and the mounting bracket having a mechanical blocking device. The mechanical blocking device prevents the mounting bracket from being able to be coupled to the base device in the fourth position.

According to a refinement, the mounting bracket includes a mounting side that is arranged transversely to the second interface of the mounting bracket, wherein the actuator receptacle is configured to receive an actuator from a first direction, from a second direction rotated anticlockwise by 90° with respect to the first direction about the axis of the base device, and from a third direction rotated anticlockwise by 90° with respect to the second direction about the axis of the base device, and wherein the mounting side is orthogonal to the first direction in the first position, the mounting side is orthogonal to the second direction in the second position, and the mounting side is orthogonal to the third direction in the third position.

In other words, the actuator receptacle of the base device is configured to receive the actuator from three different directions, wherein the first direction, the second direction and the third direction are rotated successively by 90° about the longitudinal axis of the base device with respect to one another in an anticlockwise direction. When the mounting bracket is in the first position or in the third position, the first direction in which the actuator can be received is in each case orthogonal to the mounting side. If, on the other hand, the mounting bracket is in the second position, the second direction in which the actuator can be received is orthogonal to the mounting side.

For mounting the safety gate monitoring module on a safety gate or mounting surface, the mounting side of the mounting bracket can be aligned parallel to the safety gate or the mounting surface.

The mounting bracket may have a substantially L-shaped cross section.

According to a further refinement, the mechanical blocking device includes a mechanical blocking element and a recess, wherein one of the two interfaces includes the mechanical blocking element and the other one of the two interfaces includes the recess that is configured to receive the mechanical blocking element in the first position, the second position, and the third position, respectively, and to prevent the fourth position.

In other words, the recess and the mechanical blocking element interact in a manner similar to a slot and a key. In the fourth position, the mechanical blocking element cannot engage in the recess, and thus coupling of the base device to the mounting bracket in the fourth position is prevented. In contrast, the mechanical blocking element can engage in the recess in the first position, in the second position, and in the third position, respectively.

It is self-evident that the mounting bracket can only be coupled to the base device in one position at a time. In other words, the mounting bracket cannot be coupled to the base device in two positions at the same time.

The mechanical blocking device has an advantage that coupling of the mounting bracket to the base device in the fourth position is avoided. The fourth position is an unsuitable position. An unsuitable position refers to an orientation of the mounting bracket with respect to the base device in which the base device is oriented in such a way in the mounted state on a safety gate or a mounting surface that an actuator cannot engage in the actuator receptacle or can do so only with difficulty.

The mechanical blocking device therefore acts as an incorrect assembly safeguard. This has a positive effect on the process of mounting the safety gate monitoring module on a safety gate or a mounting surface since the user is relieved of the burden of considerations connected with assembly, and time-consuming conversion work that follows incorrect assembly is avoided.

For example, the one interface can have three spatially separate recesses, each of which is configured to receive the mechanical blocking element in a specific position of the mounting bracket. In other words, according to this example, a first recess is configured to receive the mechanical blocking element in the first position, a second recess is configured to receive the mechanical blocking element in the second position, and a third recess is configured to receive the mechanical blocking element in the third position. Since the mechanical blocking element cannot be received in the fourth position, the mounting bracket cannot be coupled to the base device in the fourth position.

In a refinement, the mounting bracket includes the mechanical blocking element and the base device includes the corresponding recess. It is equally possible that the base device includes the mechanical blocking element and the mounting bracket includes the recess.

According to a further refinement, the recess is a recess that extends around the axis of the base device by less than 360°.

Compared to the abovementioned example with recesses spatially separated from one another, the recess extending around less than 360° has an advantage that the mounting bracket can be rotated (in an infinitely variable manner) from the first position into the second position and/or from the second position into the third position, for example, without the mounting bracket having to be moved axially parallel to the axis of the base device. This has an effect that the user can mount the safety gate monitoring module easily and conveniently.

Another advantage of the recess extending around less than 360° is that the mounting bracket cannot perform multiple complete rotations about the axis of the base device without axial movement in a direction parallel to the axis of the base device. This is also advantageous particularly if the safety gate monitoring module includes a plug. If the plug is connected to the base device via electrical connections, these electrical connections, such as strands or cables, should be protected from being twisted multiple times. Otherwise, the electrical connections could be damaged or could even tear off.

The recess may have an angular range greater than 180°.

According to a further refinement, the base device and/or the mounting bracket include a first axial locking that axially locks the mounting bracket along the axis of the base device.

This has an advantage that a user does not have to lock or secure the mounting bracket axially by hand during assembly. This has a simplifying effect on the assembly process. In particular, a user can rotate the mounting bracket from one position to another position without locking or securing the mounting bracket axially by hand in a direction parallel to the axis of the base device, for example from the first position to the second position and/or from the second position to the third position.

According to a further refinement, the base device includes a detachably fixed side wall that includes a part of the first axial locking.

In other words, the base device includes a side wall that can be detached from and reattached to the base device, and at least a part of the first axial locking is arranged on this side wall.

This configuration has an advantage, in particular, that the first axial locking can only be detached when the detachably fixed side wall is detached from the base device. This can have a positive effect on the assembly process since a user automatically uses or “holds” the mounting bracket and the base device together, and therefore cannot “lose” the mounting bracket, for example.

Furthermore, unwanted access to the base device via the first interface can be limited by only authorized users being able to detach or fasten the detachably fixed side wall of the base device or by unauthorized access being optically detectable. For example, one or more screws that fasten or fix the detachably fixed side wall to the base device can be secured with locking compound.

According to a further refinement, the mounting bracket includes a mounting side that is arranged transversely to the second interface of the mounting bracket, wherein the base device includes a first through-hole and a second through-hole, the second through-hole extending orthogonally to the first through-hole, and wherein the first through-hole extends orthogonally to the mounting side in the first position and the third position, and the second through-hole extends orthogonally to the mounting side in the second position.

In other words, a longitudinal axis of the first through-hole extends orthogonally to the mounting side of the mounting bracket when the mounting bracket is coupled to the base device in the first position. The longitudinal axis of a through-hole refers to the axis along which the through-hole extends or along which the through-hole was made (e.g. drilled) or along which a fixing device can be received. When the mounting bracket is coupled to the base device in the second position, a longitudinal axis of the second through-hole extends orthogonally to the mounting side. When the mounting bracket is coupled to the base device in the third position, the longitudinal axis of the first through-hole again extends orthogonally to the mounting side.

The first through-hole and the second through-hole are each configured to receive a fixing device. Therefore, the safety gate monitoring module can be attached to the safety gate or mounting surface, respectively, by means of a fixing device received by either the first through-hole or the second through-hole. This has an advantage that the safety gate monitoring module has a further fixing point on either the safety gate or the mounting surface—in addition to the fixing point on the mounting side of the mounting bracket. It is thereby possible to improve the mechanical stability of the connection of the base device to the mounting surface or safety gate. The fixing device may include a screw.

According to a further refinement, the mounting bracket includes a mounting side that is arranged transversely to the second interface of the mounting bracket, wherein the base device includes a first side surface, a second side surface and a third side surface that are arranged substantially transversely to the first end face, and wherein the mounting side of the mounting bracket is flush with or parallel to the first side surface in the first position, is flush with or parallel to the second side surface in the second position, and is flush with or parallel to the third side surface in the third position.

This configuration has an advantage, in particular, that in the first position, the second position, and the third position, one of the side surfaces of the base device is parallel to the mounting side of the mounting bracket or is aligned with it in each case. When the mounting side is connected to a safety gate or a mounting surface, one of the side surfaces of the base device is also parallel to the safety gate or mounting surface or is aligned with it. If the base device rests against the safety gate or mounting surface, this can have a positive effect on the mechanical stability of the safety gate monitoring module.

In the present case, the term “transverse” does not necessarily mean perpendicular or orthogonal. Instead, “transverse” includes an alignment at any angle (including 90°) except a parallel alignment.

According to a further refinement, the first interface includes a plug that is configured to transmit current and/or electrical signals, and wherein the second interface includes a first receptacle configured to receive the plug.

The plug can be used to supply the base device with power, for example. Likewise, control signals, for example, can be transmitted between the safety gate monitoring module and a control unit.

The arrangement of the plug on the first interface has an advantage, in particular, that the plug is accessible in the first position, the second position, and the third position, respectively. Accessible means that the plug or the first interface is not covered by the safety gate or mounting surface. In addition, the mounting bracket can also advantageously function as a plug holder at the same time. However, it is conceivable for the plug to be connected to the base device at some other point.

According to a further refinement, the plug and/or the mounting bracket include an anti-rotation lock that is configured to rotationally lock or secure the plug with respect to the axis of the base device in the first receptacle.

The anti-rotation lock has an advantage, in particular, that one or more electrical connections, such as cables, which can electrically connect the plug to the base device, are held in one position and cannot be twisted about the axis of the base device owing to an unwanted rotation of the plug. For example, in a state of the safety gate monitoring module (and in particular of the mounting bracket) mounted on a safety gate or mounting surface, electrical connections could be damaged by multiple rotation of the plug. The anti-rotation lock therefore has a positive effect on the safety and reliability of the safety gate monitoring module.

On the other hand, the anti-rotation lock causes the plug to rotate with the mounting bracket when the mounting bracket is rotated from one position to another position. In other words, the alignment of the plug with respect to the mounting bracket is fixed in the direction of rotation about the axis of the base device. This is the case, for example, even when the mounting bracket is rotated from the first position to the third position via the second position.

The first receptacle of the mounting bracket may include an inner contour and the plug includes an outer contour corresponding thereto, wherein the inner contour and the outer contour secure the plug rotationally in the first receptacle in relation to the axis of the base device.

The plug may include a plug head with an outer contour, and the first receptacle of the mounting bracket may include an inner contour corresponding thereto, thus preventing rotation of the plug about the longitudinal axis of the base device.

The anti-rotation lock advantageously also includes a positioning device that allows the plug to be received in the first receptacle of the mounting bracket in only one specific position.

This has an effect that the plug is always aligned in the same way relative to the mounting bracket, in particular in the first position, the second position and the third position. When the plug is connected to a connection plug, this refinement has an advantage, in particular, that the connection plug too can always be arranged in the same orientation relative to the mounting bracket. This is advantageous also particularly if the connection plug can only be connected to the plug in a specific alignment with respect to the plug. This is also advantageous if the connection plug has a certain spatial requirement and can or should only be aligned in certain orientations relative to the safety gate or the mounting surface.

For example, the plug is substantially cylindrical and includes a flattened cylinder lateral surface, wherein the first receptacle of the mounting bracket includes an inner contour corresponding thereto.

According to a further refinement, the plug and/or the mounting bracket include a second axial locking that axially locks the plug in the first receptacle along the axis of the base device.

The plug may include a body with a head, wherein the first receptacle receives the body of the plug, and the head of the plug latches along the axis of the base device with a latching element of the mounting bracket.

The second axial locking may include a thread and a nut. For example, the plug has a cylindrical shape with a thread, wherein a nut is screwed onto the thread and fastens the plug on the mounting bracket axially along the axis of the base device.

According to a further refinement, the first interface includes a plurality of second receptacles and the second interface includes a plurality of third receptacles, wherein in each case at least one of the plurality of third receptacles is aligned with one of the plurality of second receptacles of the first interface in the first position, the second position and the third position, and wherein the multiplicity of second receptacles and the multiplicity of third receptacles are each configured to receive a fixing device for coupling the first interface to the second interface.

This refinement has an advantage of a positioning aid for the user. This means that the user is assisted in aligning the mounting bracket in the first position, the second position and the third position, respectively, relative to the base device. This can have a positive effect on the assembly process by indicating the suitable positions to the user in a simplified manner and thus relieving the burden on the user as regards considerations relating to assembly.

Particularly in the case of a refinement with a recess extending by less than 360° around the axis of the base device, an infinitely variable transition between the first position, the second position, and the third position is possible. Particularly in the case of this refinement, mutually aligned second receptacles and third receptacles can indicate the first position, the second position and the third position to the user.

In a refinement, the first interface includes four second receptacles and the second interface includes four third receptacles, wherein the second receptacles and the third receptacles are arranged on corner points of a square.

The fixing device may include a screw. For example, the mounting bracket is fastened on the base device using four screws, wherein the first interface includes four second receptacles and the second interface includes four third receptacles, wherein a second receptacle and a corresponding third receptacle each receive a screw. In other words, the longitudinal axes of the four screws each extend parallel to a longitudinal axis of a second receptacle and a third receptacle which, depending on the position, corresponds thereto. It is self-evident that this applies to the first position, the second position, and the third position, wherein the mounting bracket can be in only one position at a time.

According to a further refinement, the mounting bracket includes a mounting side that is arranged transversely to the second interface of the mounting bracket, and the mounting side of the mounting bracket includes a fourth receptacle that is configured to receive a fixing device for fastening the mounting bracket to a mounting surface.

The fixing device may include a screw, by means of which the mounting side of the mounting bracket can be fastened on a safety gate or on a mounting surface.

According to a further refinement, the plug includes a poka-yoke element.

The poka-yoke element has an advantage that a connection plug can be connected to the plug only in a certain alignment relative to the plug. This has a positive effect on the assembly process since incorrect assembly can be prevented in this way. Another advantage is that the poka-yoke element can prevent the connection of a connection plug which is not suitable for connection to the safety gate monitoring module.

As already mentioned at the outset, another aspect of the present disclosure relates to a safety gate on which a safety gate monitoring module according to the disclosure is mounted. The design options mentioned above and defined in the dependent claims also apply equivalently to the safety gate having the safety gate monitoring module according to the disclosure.

The safety gate may include a first part, on which the base device of the safety gate monitoring module is arranged, and a second part, on which the actuator of the safety gate monitoring module is arranged. The two parts of the safety gate are separated from one another when the safety gate is opened. The actuator is therefore situated in the actuator receptacle of the base device only in the closed state of the safety gate.

The first part of the safety gate, on which the base device is arranged, may be a stationary part of the safety gate (e.g. a door frame or a door case). Equivalently to this, the second part of the safety gate, on which the actuator is arranged, may be a movable door element (e.g. a door leaf). The arrangement of the base device on the stationary part of the safety gate has an advantage that a power supply of the part of the safety gate monitoring module mounted on the movable part of the safety gate can be omitted since typically only the base device of the safety gate monitoring module has to be supplied with power.

As also already mentioned at the outset, a further aspect of the present disclosure relates to a safety gate monitoring system which includes a safety gate of the abovementioned type (including the safety gate monitoring module according to the disclosure), an actuator and a control unit.

It is self-evident that the features mentioned above and those yet to be explained below can be used not only in the respectively specified combination but also in other combinations or in isolation without departing from the spirit and scope of the present disclosure.

DETAILED DESCRIPTION

FIG.1shows a schematic view of one example embodiment of a safety gate monitoring system according to the disclosure. In the figure, the safety gate monitoring system is designated overall by the reference numeral10.

Here, the safety gate monitoring system10includes a robot12, the working area of which is safeguarded with the aid of a safety gate14. A safety gate monitoring module16according to the present disclosure is arranged on the safety gate14. The safety gate monitoring module16includes a door part17, which is arranged on the movable door element (door leaf) of the safety gate14, and a frame part18, which is arranged on an immovable second part20of the safety gate14. In the example embodiment illustrated, the immovable second part20of the safety gate14is a door frame or a door case. In other example embodiments, this second immovable part20of the safety gate14can also be a second door leaf of a two-part safety gate.

The frame part18of the safety gate monitoring module16is connected to a safety switching device26via two lines22,24. The safety switching device26is, for example, a safety switching device from the PNOZ<®>series, which is marketed by the applicant of the present disclosure. This is a multichannel redundant safety switching device, which is configured to evaluate the output signals of signalling devices, such as the safety gate monitoring module16, and to switch off an electrical load in accordance therewith. In this case, the electrical load is the robot12. Accordingly, the safety switching device26actuates two contactors28,30, the make contacts of which are arranged in the connection between a power supply32and the robot12.

As an alternative to the safety switching device26, the safety gate monitoring module16could also be connected to a programmable safety controller, such as that marketed by the applicant of the present disclosure under the designation PS S<®>. The safety switching device26is therefore generally referred to below as the control unit26of the safety gate monitoring system10, without thereby being limited to a specific embodiment of this control unit. A number of example embodiments of the safety gate monitoring module16according to the disclosure are described below. Here, identical or equivalent components are denoted by the same reference signs.

FIGS.2A-2Cshow various views of an example embodiment of the safety gate14with the safety gate monitoring module16according to one example embodiment mounted thereon.FIG.2Ashows the safety gate14in a perspective view in a closed position.FIG.2Bshows the closed safety gate14in a front view andFIG.2Cshows the closed safety gate14in a side view.

The safety gate monitoring module16includes a base device34and an actuator36, which interacts with the base device34. The base device34may include one or more sensors and/or further electronic components and may therefore be connected to a power supply. Furthermore, the base device34may be connected to the control unit26via lines with multi-channel redundancy, such as the lines22,24here. The base device34therefore may form the abovementioned frame part18of the safety gate monitoring module16.

Although it would likewise be conceivable to use the base device34as a door part17of the safety gate monitoring module16, this is less preferred. In such a case, the usually fixed wiring to the control unit26and the power supply would have to be routed to the movable part of the safety gate14, and this is usually more complicated than feeding the lines22,24and the power supply to the static part20of the safety gate14.

The actuator36acts as a counterpart to the base device34and serves to actuate the base device34. For this purpose, the base device34includes a corresponding actuator receptacle38, into which the actuator36can be inserted (seeFIGS.2A-2C).

One function of the base device34is to detect whether the actuator36has been inserted into the actuator receptacle38or not. For this purpose, the actuator36may include an RFID chip, which can be read out by a detector arranged in the actuator receptacle38. The base device34is configured to generate a safety gate signal when the actuator36is inserted into the actuator receptacle38. This safety gate signal may be generated as an electrical signal. This can be a digital, a pulsed, a coded and/or other (preferably electrical) signal.

By evaluating the safety gate signal in the control unit26, the safety gate monitoring system10can clearly determine at any time whether the safety gate14is closed or not. Depending on this, the robot12can be controlled in such a way that it can only be operated when the safety gate14is closed.

In the example embodiment shown inFIGS.2A-2C, the actuator36includes a substantially rod/pin-shaped actuator element40, which can be inserted into the actuator receptacle38. On its end face inserted into the actuator receptacle38, the actuator element40includes a through-hole (not shown) configured as a locating hole, into which a counter-holder68, which is arranged in the actuator receptacle38and includes a bolt (seeFIGS.3and9), can engage in order to hold the actuator36in the actuator receptacle38, for example during the activation of a guard lock function.

As shown inFIGS.2A-2C, the actuator element40is inserted into the actuator receptacle38in the closed state of the safety gate14. It goes without saying that the actuator receptacle38of the safety gate monitoring module16of the present disclosure is not intended to be restricted to receiving rod-/pin-shaped actuator elements40, but is configured to receive actuators36in general which have an actuator element40that is suitable, in particular, with regard to shape.

In the example embodiment shown inFIGS.2A-2C, the safety gate14includes a handle42, by means of which a user can open or close the safety gate14. Here, the safety gate14is configured as a pivoting door but in principle can also be configured as a sliding door or any other type of separating protective device (e.g. as a flap).

FIG.3shows an exploded view of the base device34with a mounting bracket46, mountable thereon, of the safety gate monitoring module16. The base device34extends along an axis50, which here corresponds to a central or longitudinal axis of the base device34. On a lower end face51(referred to here as the “first end face”) extending transversely to the axis50, the base device34includes a first interface44(see alsoFIGS.5,8A,8B), which interacts with a second interface48provided on the mounting bracket46. The first interface44and the second interface48are configured to be coupled to one another.

The actuator receptacle38is configured to receive the actuator36from a first direction52, from a second direction54rotated anticlockwise by 90° with respect to the first direction52about the axis50, and from a third direction56rotated anticlockwise by 90° with respect to the second direction54about the axis50. The actuator36can thus be inserted into the actuator receptacle38from at least three different directions52,54,56. According to an embodiment, it allows the actuator36to be inserted into the actuator receptacle38from precisely these three different directions52,54,56(and no other direction). These three directions52,54,56all lie in a common plane.

In the example embodiment of the safety gate monitoring module16illustrated inFIG.3, the actuator36can also be inserted into the actuator receptacle38from intermediate directions, which are rotated about the axis50by an angle <90° with respect to the directions52,54,56and are arranged in a common plane with the directions52,54,56. The actuator36can be inserted into the actuator receptacle38with a rectilinear movement and/or a rotational movement.

The base device34furthermore includes one or more optical monitoring indicators58, which indicate a state of the safety gate monitoring module16. Furthermore, an operator control device60is provided, by means of which a user can change a state of the safety gate monitoring module16, for example in order to block one or more functions of the safety gate monitoring module16. For example, the operator control device60is configured for manual deactivation of the guard lock function of the safety gate monitoring module16by unlocking the counter-holder or blocking bolt68.

In the example embodiment shown inFIG.3, the mounting bracket46has a substantially L-shaped cross section. The mounting bracket46includes a mounting side62, which is arranged transversely, particularly orthogonally, to the second interface48of the mounting bracket46. On the mounting side62, a fourth receptacle64is provided, which is configured to receive a fixing device, such as a screw, for fastening the mounting bracket46to, for example, the immovable second part20of the safety gate14.

The mounting bracket64is further configured to receive a plug66, which is connected to the base device34and can be part of the first interface44. The mounting bracket46includes a first receptacle70, which receives the plug66. The plug66is configured to connect the base device34to a connection plug. With the help of the plug66, the base device34of the safety gate monitoring module16can be connected, for example, to a power supply32and/or to the control unit26.

The plug66is secured on the mounting bracket46axially along the axis50by means of an axial locking72(referred to here as a “second axial locking”). The axial locking72includes a nut74that can be screwed onto an external thread (not illustrated) provided on the plug66. Furthermore, the axial locking72includes a counter-holder75, arranged in the mounting bracket46, for the head77of the plug66(seeFIGS.9and12A). In the assembled state, the plug66is thus axially secured in the first receptacle70of the mounting bracket46, wherein the head77of the plug66is pressed against the counter-holder75in the axial direction with the aid of the nut74(seeFIG.9).

The mounting bracket46is fixed or fastened on the base device34by a plurality of fixing device76. For this purpose, in the present case, the first interface44includes four receptacles78(referred to here as “second receptacles”) (seeFIGS.8A and8B). The second interface48likewise includes four receptacles80(referred to here as “third receptacles”) (seeFIGS.7,12A and12B). The second receptacles78and the third receptacles80are configured to receive the fixing device76, which may be embodied as screws. When the second receptacles78and the third receptacles80are aligned with one another, a second receptacle78and a third receptacle80can each jointly receive a fixing device76in order to fix or fasten the mounting bracket46on the base device34. In the example embodiment shown here, the second receptacles78and the third receptacles80are each configured as through-holes, which together form a square hole pattern. In other words, the central axes of the through-holes forming the receptacles78,80are arranged on corner points of a square in plan view.

According to the disclosure, the mounting bracket46can be fixed or fastened in various positions on the base device34. This makes it possible to fix or fasten the base device34in different alignments relative to the immovable second part20of the safety gate14. The mounting bracket46can be coupled to the base device34in a first position (seeFIG.6A), a second position (seeFIG.6B), and a third position (seeFIG.6C).FIG.5schematically indicates, by means of the arrow82, a direction of rotation in which the mounting bracket46can be pivoted about the axis50with respect to the base device34. Of course, the mounting bracket46can only be pivoted with respect to the base device34when the fixing device76are undone.

FIG.6Ashows the mounting bracket46in its first position with respect to the base device34.FIG.6Bshows the mounting bracket46in its second position with respect to the base device34.FIG.6Cshows the mounting bracket46in its third position with respect to the base device34. The second position is rotated 90° clockwise about the axis50of the base device34with respect to the first position. The third position is rotated 90° clockwise about the axis50of the base device34with respect to the second position.

Coupling of the first interface44to the second interface48in a fourth position rotated clockwise by 90° about the axis50of the base device34with respect to the third position is prevented by a mechanical blocking device90(seeFIG.7,FIG.8AandFIG.8B) in order to avoid incorrect assembly, as explained in detail below. Thus, the mounting bracket46can be arranged in exactly three different, predefined positions with respect to the base device34. The fourth position can be a position that is unfavorable for the actuator receptacle38as regards reception of the actuator36since the actuator36cannot engage in the actuator receptacle38, or can engage only with difficulty.

When the mounting bracket46is fixed or fastened in its first position on the base device34, the mounting side62of the mounting bracket46is aligned orthogonally to the first direction52(FIG.6A). If, on the other hand, the mounting bracket46is fixed or fastened in its second position on the base device34, the mounting side62of the mounting bracket46is aligned orthogonally to the second direction54(FIG.6B). In the third position, the mounting side62of the mounting bracket46is aligned orthogonally to the third direction56(FIG.6C).

In the region of its upper end, the base device34furthermore includes a first through-hole84and a second through-hole86extending to the first through-hole84. In the first position of the mounting bracket46, the first through-hole84extends orthogonally to the mounting side62(FIG.6A), in the second position the second through-hole86extends orthogonally to the mounting side62(FIG.6B), and in the third position the first through-hole84extends orthogonally to the mounting side62(FIG.6C).

Thus, the base device34can be fixed or fastened on the immovable second part20of the safety gate14using a fixing device (e.g. a screw) inserted into the first through-hole84if the first position, shown inFIG.6A, of the mounting bracket46is selected. The through-hole84then extends parallel to the fourth receptacle64which is provided on the mounting bracket46and is used to fix or fasten the mounting bracket46on the immovable second part20of the safety gate14with the aid of a further fixing device (e.g. a screw).

In the second position, shown inFIG.6B, of the mounting bracket46, the second through-hole86extends parallel to the fourth receptacle64, and therefore the base device34, together with the mounting bracket46, can then be fixed or fastened on the immovable second part20of the safety gate14by passing a fixing device through the second through-hole86and a further fixing device through the fourth receptacle64.

Similarly, when the third position, shown inFIG.6C, of the mounting bracket46is selected, the base device34can be fixed or fastened, together with the mounting bracket46, on the immovable second part20of the safety gate14by passing a fixing device through the second through-hole84and a further fixing device through the fourth receptacle64.

The base device34includes a first side surface112, a second side surface114, a third side surface116, and a fourth side surface118. The first side surface112is arranged on the left side of the base device34. The second side surface114is arranged on the rear side of the base device34. The third side surface116is arranged on the right side of the base device34. The fourth side surface118is arranged on the front side of the base device34. The first side surface112extends parallel to the third side surface116. The second side surface114extends parallel to the fourth side surface118and transversely to the first and third side surfaces112,116, respectively.

In the first position, the mounting side62of the mounting bracket46is aligned parallel to or flush with the first side surface112(FIG.6A). In the second position, the mounting side62of the mounting bracket46is aligned parallel to or flush with the second side surface114(FIG.6B). In the third position, the mounting side62of the mounting bracket46is aligned parallel to or flush with the third side surface116(FIG.6C). As already mentioned, alignment of the mounting side62of the mounting bracket46parallel to or flush with the fourth side surface118is prevented according to the disclosure by the mechanical blocking device90.

The mechanical blocking device90can be seen, in particular, inFIGS.7,8A and8B. The mechanical blocking device90includes a blocking element88, which is arranged on the second interface48on the mounting bracket46, and at least one recess89, which functions as a counterpart thereto and is arranged on the first interface44of the base device34. The at least one recess89,89′ receives the mechanical blocking element88in the first position, the second position, and the third position of the mounting bracket46, respectively. However, the mechanical blocking device90prevents coupling of the first interface44to the second interface48in the fourth position.

FIGS.8A and8Bshow two different example embodiments of the part of the mechanical blocking device90which is provided on the first interface44arranged on the base device34. The recess shown inFIG.8Aincludes three spatially separate recesses89, which are configured to receive the mechanical blocking element88in each case in one of the first position, the second position or the third position. In order to rotate the mounting bracket46from the first position into the second position, for example, the mounting bracket46must be lifted off axially along the axis50of the base device34and can then be brought into another position by inserting the blocking element88attached to the mounting bracket46into one of the two other recesses89.

In the example embodiment shown inFIG.8B, the recess89′ is configured as a recess that extends around the axis50of the base device34by less than 360°. This example embodiment of the recess89′ has an advantage, in particular, that the mounting bracket46can be rotated in an infinitely variable manner from one position into another position without the mounting bracket46having to be lifted off axially along the axis50of the base device34for this purpose. A suitable position (the first position, the second position, or the third position) is indicated to a user by means of one of the plurality of second receptacles78and a plurality of third receptacles80aligned therewith. A user can thus rotate the mounting bracket46in an infinitely variable manner until the user recognizes a suitable position on the basis of the aligned second and third receptacles78,80.

The recess89′ extending around the axis50of the base device34by less than 360° can also prevent complete rotation of the plug66about the axis50of the base device34. This can also be advantageous, in particular, if the plug66is connected to the base device34via electrical lines92which are to be protected from being twisted multiple times (seeFIG.9).

An axial locking94(here referred to as a “first axial locking”), which is shown inFIG.9and locks the mounting bracket46on the base device34along the axis50, can be particularly advantageous in combination with the recess89′ extending around less than 360°. The first axial locking94includes a side wall96detachably arranged on the base device34and having a mechanical blocking element98(referred to here as a “second mechanical blocking element”) and a receptacle100(referred to here as a “fifth receptacle”) arranged on the mounting bracket46. To mount the mounting bracket46on the base device34, the side wall96can be detached from the housing of the base device34. The mounting bracket46can then be inserted into the base device34, for example together with the plug66. The detachable side wall96can then be reattached to the base device34such that the second mechanical blocking element98arranged on the side wall96engages in the receptacle100of the mounting bracket46and secures the mounting bracket46along the axis50of the base device34. If the position of the mounting bracket46is then to be changed, this can be done by simply releasing the fixing device76and subsequently rotating the mounting bracket46about the axis50. During the rotation, the mounting bracket46remains in its axially secured position. Damage to or even breakage of the electrical lines92can thereby be prevented in an effective manner.

FIG.10shows a perspective view of an example embodiment of the plug66. The plug66can have a poka-yoke element102, which is configured to connect the plug66to a connection plug (e.g. for connection to the power supply32and/or the control unit26) in only one specific orientation. This poka-yoke element102is often also referred to as the coding of the plug66.

In a manner similar to a poka-yoke element, a positioning device104provided on the plug66and the first receptacle70of the mounting bracket46ensures that the first receptacle70can receive the plug66in only one specific orientation. In the example embodiment shown inFIG.10andFIG.11, the plug66is of substantially cylindrical configuration and includes a flattened cylinder lateral surface106, which in the assembled state rests against a planar stop surface108provided on the mounting bracket46. Thus, the positioning device104is formed by the flattened cylinder lateral surface106and the stop surface108.

FIG.12AandFIG.12Bshow two example embodiments of the mounting bracket46. The essential difference between these two example embodiments consists in the way in which the first receptacle70is configured to form an anti-rotation lock110, which prevents the plug66from rotating relative to the mounting bracket46. In both cases, the first receptacle70of the mounting bracket46includes an inner contour corresponding to the outer contour of the plug head77, ensuring that the plug66is secured rotationally about the axis50of the base device34. In the example embodiment shown inFIG.12A, the first receptacle70has a hexagonal inner contour formed from six sub-areas. In the example embodiment shown inFIG.12B, the individual sub-areas are each additionally divided by a recess112into two sub-sub-areas.

It is self-evident that the example embodiments shown in the figures show only illustrative embodiments of the safety gate monitoring module16according to the disclosure, which are intended to illustrate advantages of the safety gate monitoring module16according to the disclosure. Various modifications can be made to these example embodiments without departing from the scope of the present disclosure.

The term non-transitory computer-readable medium does not encompass transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave). Non-limiting examples of a non-transitory computer-readable medium are nonvolatile memory circuits (such as a flash memory circuit, an erasable programmable read-only memory circuit, or a mask read-only memory circuit), volatile memory circuits (such as a static random access memory circuit or a dynamic random access memory circuit), magnetic storage media (such as an analog or digital magnetic tape or a hard disk drive), and optical storage media (such as a CD, a DVD, or a Blu-ray Disc).

The phrase “at least one of A, B, and C” should be construed to mean a logical (A OR B OR C), using a non-exclusive logical OR, and should not be construed to mean “at least one of A, at least one of B, and at least one of C.” The phrase “at least one of A, B, or C” should be construed to mean a logical (A OR B OR C), using a non-exclusive logical OR.

LIST OF REFERENCE SIGNS