Method for adjusting a protective function during operation of a machine by generating an unmonitored window region having protective devices, and protective apparatus

Patent metadata

Field	Value
Publication number	US-11370118-B2
Application number	US-201817414105-A
Country	US
Kind code	B2
Filing date	Dec 17, 2018
Priority date	Dec 17, 2018
Publication date	Jun 28, 2022
Grant date	Jun 28, 2022

Abstract

The invention relates to a method for adjusting a protective function during operation of a machine (1), in which a transfer region (5) is monitored by a plurality of protective devices (L1, L2), the transfer region (5) being arranged between a risk region (2), in which a dangerous movement is performed by the machine (1), and a surrounding region (3), the transfer region (5) being monitored by first protective devices (L1) in respective first monitoring directions (UI) and, independently thereof, by second protective devices (L2) in respective second monitoring directions (U2), at least one of the first protective devices (L1) and at least one of the second protective devices (L2) being arranged relative to one another in such a way that the first monitoring direction (UI) of the at least one first protective device (L1) and the second monitoring device (U2) of the at least one second protective device (L2) have a point of intersection (S).

First claim

The invention claimed is:

1. A method for adjusting a protective function during operation of the machine, the method comprising:
monitoring a transition region by first and second non-separating protective devices, wherein the transition region is arranged between a danger area in which a dangerous movement is carried out with the machine and a surrounding area, wherein the transition region is monitored with the first non-separating protective devices along respective first monitoring directions and, independently therefrom, with the second non-separating protective devices along respective second monitoring directions, a plurality of the first non-separating protective devices and a plurality of the second non-separating protective devices are arranged relative to one another in such a way that the first monitoring directions of the first non-separating protective devices and the second monitoring directions of the second non-separating protective devices have respective points of intersection, and
adjusting a position and/or dimensions of an unmonitored window region assigned to the points of intersection through a deactivation and/or activation of the respective first non-separating protective devices and the respective second non-separating protective devices.

2. The method as claimed in claim 1 , characterized in that the at least one first non-separating protective device and at least one second non-separating protective device are deactivated to generate a window region assigned to the point of intersection.

3. The method as claimed in claim 1 , characterized in that a movement of a further, non-safety-critical machine is determined and the position and/or the dimensions of the unmonitored window region is/are adjusted continuously depending on the movement.

4. The method as claimed in claim 3 , characterized in that the position and/or the dimensions of the unmonitored window region are determined in such a way that an operation or movement of the further non-safety-critical machine through the transition region is enabled.

5. The method as claimed in claim 4 , characterized in that, in order to determine the movement of the further non-safety-critical machine, a trajectory is calculated and/or movement data which describe the movement of the further non-safety-critical machine are provided by the further non-safety-critical machine.

6. The method as claimed in claim 5 , characterized in that, in order to determine the movement of the further non-safety-critical machine, the movement of the further non-safety-critical machine is observed during an initial learning phase by the first non-separating protective device and/or the second non-separating protective device.

7. The method as claimed in claim 3 , characterized in that, in order to determine the movement of the further non-safety-critical machine, a trajectory is calculated and/or movement data which describe the movement of the further non-safety-critical machine are provided by the further non-safety-critical machine.

8. The method as claimed in claim 3 , characterized in that, in order to determine the movement of the further non-safety-critical machine, the movement of the further non-safety-critical machine is observed during an initial learning phase by the first non-separating protective device and/or the second non-separating protective device.

9. The method as claimed in claim 3 , characterized in that the movement of the machine is interrupted if a part of the machine or a different object is detected in the transition region by the first non-separating protective device and/or the second non-separating protective device.

10. The method as claimed in claim 3 , characterized in that the first non-separating protective devices and the second non-separating protective devices are designed in such a way that the first monitoring directions run perpendicular to the second monitoring directions.

11. The method as claimed in claim 1 , characterized in that the movement of the machine is interrupted if a part of the machine or a different object is detected in the transition region by the first non-separating protective device and/or the second non-separating protective device.

12. The method as claimed in claim 1 , characterized in that the first non-separating protective devices and the second non-separating protective devices are designed in such a way that the first monitoring directions run perpendicular to the second monitoring directions.

13. A protective apparatus for adjusting a protective function during operation of a machine, the protective apparatus comprising:
a plurality of non-separating protective devices for monitoring a transition region, wherein the transition region is arranged between a danger area in which a dangerous movement is performed with the machine and a surrounding area, wherein first non-separating protective devices of the plurality of non-separating protective devices are arranged to monitor the transition region along respective first monitoring directions and second non-separating protective devices of the plurality of non-separating protective devices are arranged for the independent monitoring of the transition region along respective second directions, wherein at least one of the first non-separating protective devices and at least one of the second non-separating protective devices are arranged relative to one another in such a way that the first monitoring direction of the at least one first non-separating protective device and the second monitoring direction of the at least one second non-separating protective device have a point of intersection,
wherein a plurality of the first non-separating protective devices and a plurality of the second non-separating protective devices are arranged in relation to one another in such a way that the first monitoring directions of the first non-separating protective devices and the second monitoring directions of the second non-separating protective devices have respective points of intersection,
wherein a position and/or dimensions of an unmonitored window region assigned to the points of intersection is/are established by a deactivation and/or activation of the respective first non-separating protective devices and the respective second non-separating protective devices.

Assignees

• Siemens Ag

Inventors

• Bär Felix
• Graf Rene
• Gross Ralf
• Loskyll Matthias

Classifications

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J19/0075

  Means for protecting the manipulator from its environment or vice versa · CPC title

• F16P3/144 Primary

  using light grids · CPC title

• B25J9/163

  learning, adaptive, model based, rule based expert control · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title