EP3660251A1 - Protective device, especially industrial gate - Google Patents

Abstract

The disclosure relates to a protective device (10, 110, 210, 310) for closing an opening (14, 114), in particular a building opening, with at least one horizontally movable closing element (26, 30; 126, 130; 226, 230; 326 , 330), in particular a fast-running closing element (26, 30; 126, 130; 226, 230; 326, 330), with a closing edge (28, 32; 128, 132; 228, 232; 328, 332), the closing element (26, 30; 126, 130; 226, 230; 326, 330) can be moved horizontally between an open position and a closed position in a closing plane (18, 118, 218, 318), a horizontal guide (48, 148, 248, 348), on which at least one horizontally movable carriage (58, 60, 158, 160) is received, which carries the closing element (26, 30; 126, 130; 226, 230; 326, 330), a drive (38, 238 ) for driving the closing element (26, 30; 126, 130; 226, 230; 326, 330), and a monitoring device (68, 168, 268, 368) with at least one sensor unit (7 0, 170, 270, 370) for monitoring the closing edge (28, 32; 128, 132; 228, 232; 328, 332) of the closing element (26, 30; 126, 130; 226, 230; 326, 330), at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) of the sensor unit (70, 170, 270, 370) of the closing edge (28, 32; 128, 132; 228, 232; 328, 332) of the closing element (26, 30; 126, 130; 226, 230; 326, 330) is assigned, and wherein the at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) and the closing edge (28, 32; 128, 132; 228, 232; 328, 332) of the closing element (26, 30; 126, 130 ; 226, 230; 326, 330) can be moved horizontally together.

Description

The present disclosure relates to a protective device for closing an opening, in particular a building opening. In exemplary embodiments, the present disclosure relates to so-called horizontally (laterally) opening gates and doors. Protective devices of this type are used, for example, to securely close entrances to buildings, machines and systems and to release them when necessary.

In particular, the present disclosure relates to so-called high-speed gates and doors. These are usually gates and doors that have a closing speed of greater than 0.5 m / s. However, this is not to be understood as restrictive.

Furthermore, the present disclosure relates at least in exemplary embodiments to so-called industrial gates, that is to say gates for industrial use. For example, such a gate can have a width of 2.50 m and a height of 3 m. However, this is also not to be understood as restrictive. Doors and gates to which the present disclosure relates are provided with at least one drive for opening and closing.

From the DE 198 04 632 C2 A device for monitoring a driven leaf, in particular a door, is known, with a camera-less sensor device for monitoring a monitoring and triggering area assigned to at least one leaf, with a control stage via which the data coming from the sensor device is evaluated, and with at least one Motorized drive device for moving the wing, the sensor device comprising at least one distance sensor, via which the distance between a detected object in the monitoring area and the sensor device, the wing or the wing plane can be determined, and wherein, depending on this, the opening movement of the wing, an interruption of the Closing process of the wing and / or a reversal is controllable.

From the DE 10 2008 044 990 A1 a method for controlling and / or monitoring a drivable wing of a door is known, distance sensors being used on the wing itself, and a monitoring area being reduced when the wing approaches a wall or another spatial element. Attention is therefore paid to fixed objects, such as a side wall, towards which the sash is moved when the door is opened. Such objects should not be recorded as potential collision objects.

There are vertically closing doors and gates as well as horizontally closing doors and gates. The closing elements (comparable to a door leaf) can have a plurality (in themselves) of stiff segments / links, a rollable web and / or a rollable armor. Combinations of these are also conceivable.

Doors and gates in the industrial environment are subject to various safety regulations, such as the so-called accident prevention regulations. Various scenarios are conceivable when operating a gate, which must be avoided at all costs. One scenario is the collision of an object with the closed gate. Another scenario is the pinching of an object when the door closes. Both scenarios can lead to production downtimes, damage and even health impairments.

Against this background, safety devices are prescribed in the industrial environment, which in particular monitor a closing door / door in order to prevent jamming and / or other collisions with moving parts of the door. So it is mandatory, at least for certain uses, to monitor a so-called closing edge of the closing door for collisions and / or impending collisions. In the event of an undesirable condition (an alarm), the gate should be opened again as soon as possible. This process is called reversing.

Various approaches are known for monitoring the closing edges, particularly in the case of horizontally opening protective devices. For example, it is conceivable to provide so-called blow bars at the closing edges, which have contact switches that trigger in the event of a collision. Light barriers, light grids or the like are also known.

It is not uncommon for the safety devices to be functionally and possibly structurally independent of other devices for operating the door. In this way, a certain redundancy can be ensured.

Safety devices (monitoring devices) for doors and gates can, on the one hand, relate to the monitoring of the apron, i.e. an area in front of the closing level, in order to recognize potential dangers from approaching foreign objects at an early stage before a collision occurs. In this way, many collisions can be avoided.

Furthermore, safety devices can also relate to the monitoring of the closing edges as such. Attention is paid primarily to the actual closing level in which the closing edge moves when the gate / door is closed. In this way, an approach of an object cannot necessarily be detected. Nevertheless, there are applications in which apron monitoring is combined with closing edge monitoring in order to further increase operational safety.

Monitoring devices can effectively prevent collisions and consequential damage or reduce their effectiveness. However, it has been shown that a large number of alarms, which can regularly include a not inconsiderable number of false alarms, can lead to a reduction in productivity.

Especially when an alarm condition is recognized and the door reverses as quickly as possible, current processes / production steps are often interrupted and, if necessary, even emergency stop routines are carried out. This regularly leads to considerable delays and unproductive times. This can cause cycle times to increase.

Against this background, the present disclosure is based on the object of specifying a protective device in the form of a protective door or a protective gate which enables high productivity and in particular reduces downtimes and / or alarm times due to false alarms. The protective device should nevertheless comply with the applicable safety regulations. The protective device should be able to be operated safely. The protective device is intended to enable rapid operation, that is to say high closing speeds, of the gate or of the door.

• zumindest ein horizontal verfahrbares Schließelement, insbesondere ein schnelllaufendes Schließelement, mit einer Schließkante, wobei das Schließelement in einer Schließebene horizontal zwischen einer geöffneten Stellung und einer geschlossenen Stellung verfahrbar ist,
• eine Horizontalführung, an der zumindest ein horizontal verfahrbarer Schlitten aufgenommen ist, der das Schließelement trägt,
• mindestens einen Antrieb zum Antreiben des Schließelements, und
• eine Überwachungseinrichtung mit zumindest einer Sensoreinheit zur Überwachung einer Schließebene,
  wobei die Sensoreinheit zumindest einen Sensor aufweist, der gemeinsam mit dem Schließelement horizontal verfahrbar ist, und
  wobei vorzugsweise der zumindest eine Sensor der Horizontalführung benachbart ist und die Schließebene von oben überwacht.

With regard to the device, the object of the disclosure is achieved by a protective device for closing an opening, in particular a building opening, the protective device having the following:

• at least one horizontally movable closing element, in particular a fast-running closing element, with a closing edge, the closing element in a closing plane can be moved horizontally between an open position and a closed position,
• a horizontal guide, on which at least one horizontally displaceable carriage is received, which carries the closing element,
• at least one drive for driving the closing element, and
• a monitoring device with at least one sensor unit for monitoring a locking level,
  wherein the sensor unit has at least one sensor that can be moved horizontally together with the closing element, and
  the at least one sensor preferably being adjacent to the horizontal guide and monitoring the closing plane from above.

The object of the invention is completely achieved in this way.

According to the invention, this arrangement of the sensor increases the robustness of the monitoring device. If the sensor and the closing edge can be moved together horizontally, the sensor is always conveniently positioned with respect to the closing edge. This is particularly advantageous if the closing element dodges (for example due to wind loads or the like). In such a case, the probability of false alarms increases in the case of a sensor fixed to the frame, for example when the closing element is moved out of the detection range of the sensor.

This applies in particular to hanging protective devices (doors or gates), the closing elements of which are received horizontally, mainly on their upper side, on a longitudinal guide, the closing element below or (hardly) being guided at the bottom (bottom side). This often applies to protective devices with horizontally movable closing elements, in which the actual transition (the "threshold") is to be designed as smoothly as possible and without disruptive elements. In the case of such protective devices, guides on the bottom for the closing elements are regularly dispensed with. However, this can often lead to deflections of the locking elements, for example, in the case of loads transverse to the locking level (such as wind loads). This can lead to false alarms, for example, if the monitoring device incorrectly assumes that a foreign object is present in the area immediately in front of the closing edge, so that a collision is imminent.

This is the case, for example, when the safety device is based on sensors that monitor two mutually opposite closing edges relative to one another. If, for example, the monitoring is based on the fact that a sensor is arranged on (or in the vicinity) of a closing edge and monitors the opposite closing edge, a deflection of one of the two closing elements may possibly be. be interpreted as a collision. This can be the case with light barriers or light grids, for example, if the relative movement (approximately across the closing plane) between the transmitter and receiver is too great.

However, if the sensor is arranged in a fixed manner with respect to the closing edge, the closing edge can be monitored with greater certainty, particularly in the case of a moving door.

In the context of the present disclosure, therefore, monitoring “from above” is to be understood as a position and viewing direction of the sensor which enable reliable monitoring of the closing plane or the closing edge even when the closing element is deflected transversely to the closing plane.

It goes without saying that the safety device can be combined with a sensor unit for monitoring the closing edge with further sensor units, for example with sensors for monitoring the apron of the protective device. Such devices can in principle also be provided. Nonetheless, the present disclosure primarily relates to the monitoring of the closing edge.

The carriage can basically also be designed as a carriage. The slide can be received and guided on the horizontal guide via rollers / wheels / rolling elements. Such sledges are regularly referred to as carriages. In principle, it is also conceivable to use a sliding movement for moving the slide on the horizontal guide. Accordingly, in this embodiment, the Horizontal guidance designed as a sliding guide. The term carriage therefore includes various embodiments, namely those with sliding bodies / sliding surfaces and those with rolling bodies / rolling bodies.

In an exemplary embodiment, the sensor is designed to monitor the closing edge of the closing element to which the sensor is assigned or with which the sensor is moved. According to an exemplary embodiment, two sensors are provided in a protective device with two closing elements (right and left closing element), each of which monitors the closing edge of the own closing element. In this way, false alarms can be reduced by relative movements of the two closing elements.

However, according to an alternative embodiment, it is also conceivable to provide two sensors in a protective device with two closing elements, one on each closing element, the sensors aiming at and monitoring the closing edge of the other (opposite) closing element.

According to an alternative embodiment, it is also conceivable to provide at least one sensor associated with a locking element in a protective device with two locking elements, the sensor being designed to monitor the locking edge of both locking elements.

However, according to an alternative embodiment, it is also conceivable to provide two sensors in a protective device with two closing elements, one on each closing element, the two sensors aiming at and monitoring both the closing edge of the other (opposite) closing element and the closing edge of the own closing element .

According to an exemplary embodiment of the protective device, the at least one sensor is arranged fixed on the carriage. According to a further exemplary embodiment, the at least one sensor is arranged fixedly on the closing element and can be moved with it.

It is conceivable to arrange the at least one sensor in the vicinity of the carriage and in the vicinity of the closing edge. This has the advantage that the sensor is hardly or not affected by these deflections in the event of undesired deflections of the closing elements, which usually occur to a greater extent in the lower region of the closing elements than in the upper region. This increases the reliability of the monitoring.

The at least one sensor can monitor the closing edge “from above” or “essentially from above”, that is to say cover approximately a region of at least 80% of the vertical extension of the closing edge. If possible, this should also cover a region of the closing edge near the ground. Furthermore, the monitoring device can be designed in such a way that there is a certain tolerance for lateral deflections. The main goal of the monitoring is collision detection or collision avoidance, i.e. an (impending) contact between the closing edge and a foreign object.

According to a further exemplary embodiment of the protective device, the at least one closing element is guided through the carriage at its upper end in the region of its closing edge. This results in a hanging design if the closing element is held on the horizontal guide by one or more slides. Thus, the closing element is held perpendicular by its own weight. Nevertheless, a certain deflection can result if lateral loads (across the locking plane) act on the locking element. In such a case, the arrangement of the sensor on the carriage or in the vicinity of the carriage reduces the susceptibility of the monitoring to errors.

According to a further exemplary embodiment of the protective device, the monitoring device interacts with the drive in order to act on the at least one closing element in the event of an impending collision via the drive. The same applies in the event of a collision that has already occurred. The aim is then to move the closing element in the opposite direction as quickly as possible in order to reverse the protective device.

According to a further exemplary embodiment of the protective device, the at least one closing element is guided and held by the carriage at its upper end. The position of the closing plane is consequently defined by the slide or the horizontal guide. The closing element can hang on the slide.

According to a further exemplary embodiment of the protective device, the at least one closing element is held without a guide at its lower end, at least in the region of the closing edge. In other words, configurations are conceivable in which the closing element hangs freely at the bottom (bottom). There is no horizontal guide for the closing element on the bottom side.

According to a further exemplary embodiment of the protective device, the at least one sensor is designed as an optical sensor, in particular as a laser scanner. The sensor can be designed to monitor a defined monitoring area. This includes, for example, an area immediately in front of the closing edge. In this way, objects can be detected which are arranged in the closing plane, so that a collision with the closing edge threatens when the closing element closes.

According to a further exemplary embodiment of the protective device, the at least one sensor monitors at least the closing edge of the closing element and preferably an area in the closing direction in front of the closing edge.

It goes without saying that the monitoring area can be defined over a large area or even spatially. Nevertheless, exemplary embodiments provide for essentially monitoring an area in the vicinity of or immediately in front of the closing edge. The surveillance area should extend in the vertical direction over a considerable part of the vertical extent of the closing edge. The monitoring area should in particular also cover an end of the closing edge near the ground in order to detect impending collisions of objects near the ground with the closing edge.

According to a further exemplary embodiment of the protective device, the at least one closing element is designed as a flexible closing element, a winding mechanism being preferably provided for the at least one closing element. The closing element is accordingly designed, for example, as a film web. Alternatively, the design as a link chain or segment chain is conceivable. In this way, a horizontally opening and closing gate can be provided, in which the closing elements can be wound up to the side of the released opening in the open state. The installation space on the side next to the opening is only small.

According to an alternative exemplary embodiment of the protective device, the at least one closing element is designed as a stiff (sufficiently strong) door leaf or door leaf, the horizontal guide for the at least one closing element having a longitudinal extension which enables the opening to be released. Such a solution ("hanging sliding door") is also conceivable.

In general, the closing elements can be designed as a track, leaf, link chain or segment chain.

According to a further exemplary embodiment, the protective device has a first closing element and a second closing element, the first closing element and the second closing element being able to be moved towards and away from one another in order to close or open the opening. The closing edges of the two closing elements are accordingly facing each other.

According to a further exemplary embodiment of the protective device, a first sensor is assigned to the first closing element and a second sensor is assigned to the second closing element for monitoring the closing edges of the closing elements.

According to a further exemplary embodiment of the protective device, the first closing element is received on a first slide and the second closing element on a second slide, a sensor of the sensor unit being provided in each case in the first slide and in the second slide. The Sensors can be attached to the slide itself, but also in the vicinity of the slide on the closing element. In general, the sensors are arranged in a region of the vertical extent of the closing element, in which it can only be deflected a little transversely to the closing plane due to the guide over the slide on the (upper) horizontal guide.

Each of the two sensors is assigned to a closing edge. According to an exemplary embodiment, the first sensor monitors the closing edge of the first closing element, the second sensor monitoring the closing edge of the second closing element. In this way, each of the two sensors monitors the closing edge of the respectively assigned closing element. Any deflections of the other closing element therefore have hardly any influence on the current closing element. For example, the monitoring device is designed in such a way that deflections of the other closing element do not lead to false alarms, or only with a low probability, which are detected by the sensor of the opposite closing element.

According to a further exemplary embodiment of the protective device, the first sensor and the second sensor face one another, the first sensor monitoring a first monitoring area and the second sensor monitoring a second monitoring area. For example, both sensors look diagonally downwards to monitor their own closing edge. However, it is also conceivable that each of the two sensors monitors both closing edges.

According to a further exemplary embodiment of the protective device, the first sensor and the second sensor are offset parallel to one another, the first monitoring area and the second monitoring area being defined on opposite sides of the closing plane. In this way, the area in front of the respective closing edge can be monitored on the one hand. However, the (slight) parallel offset can be used to cover an area in front of or behind the closing level with the monitoring area. Nevertheless, the surveillance area continues to extend in the vicinity of the locking level or covers it. This arrangement continues to monitor the immediate In the vicinity of the closing edge, however, objects are ideally detected before an actual collision occurs.

In principle, the sensor of the respective closing element can monitor its own closing edge. However, it is also conceivable that the sensor of the closing element monitors the closing edge of the opposite closing element. In particular, if the two sensors are arranged on opposite sides of the closing plane on the opposite closing elements or their slides, both closing edges can be monitored if the monitoring area has a corresponding extent. Accordingly, it is conceivable that the sensor of the first closing element covers a monitoring area in the form of a first level, that the sensor of the second closing element covers a monitoring area in the form of a second level, the first level and the second level extending on opposite sides of the closing level . Ideally, the extension of the levels of the monitoring areas is selected such that both closing edges are monitored.

According to a further exemplary embodiment of the protective device, the first monitoring area allows monitoring of both closing edges on a first side of the closing level, the second monitoring area allowing monitoring of both closing edges on a second side of the closing level. In this way, the closing level can be monitored from both sides.

According to a further exemplary embodiment of the protective device, the monitoring device is further provided with an (additional) sensor unit for monitoring at least one apron of the closing level. In other words, in addition to monitoring the closing edge, the apron can also be monitored. In this way, approaching foreign objects can be detected. Nevertheless, monitoring the closing edge (s) is an additional security measure.

For example, the monitoring of the closing edge (s) can be configured primarily as a safety function. On the other hand, the monitoring of the apron can also be used productively, for example to open and close the protective device on a case-by-case basis. On the other hand, the monitoring of the closing edge (s) primarily serves to detect undesirable conditions. The functions for monitoring the closing edge (s) or for monitoring the apron are preferably designed as mutually independent, redundant and complementary functions.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own without departing from the scope of the present disclosure.

Fig. 1

eine perspektivische Ansicht einer beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Schutztores;

Fig. 2

eine weitere perspektivische Ansicht der Anordnung gemäß Fig. 1 in abweichender Orientierung;

Fig. 3

eine frontale Ansicht einer Schutzvorrichtung, die den Anordnungen gemäß Fig. 1 und Fig. 2 zumindest ähnlich gestaltet ist;

Fig. 4

eine weitere Ansicht der Anordnung gemäß Fig. 3, von unten her;

Fig. 5

eine perspektivische, schematische frontale Ansicht einer weiteren Ausgestaltung einer Schutzvorrichtung in Form eines Schutztores;

Fig. 6

eine vereinfachte Ansicht der Anordnung gemäß Fig. 5, in Form einer Draufsicht;

Fig. 7

eine weitere schematische Ansicht einer beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Rolltores, von unten her;

Fig. 8

eine weitere schematische Ansicht einer beispielhaften Ausführungsform einer Schutzvorrichtung in Form eines Falttores, von unten her, in einer geschlossenen Stellung ; und

Fig. 9

eine weitere Ansicht der Anordnung gemäß Fig. 8, in einer teilweise geöffneten Stellung.

Further features and advantages of the invention result from the following description and explanation of several exemplary embodiments with reference to the drawings. Show it:

Fig. 1

a perspective view of an exemplary embodiment of a protective device in the form of a protective gate;

Fig. 2

another perspective view of the arrangement according to Fig. 1 in a different orientation;

Fig. 3

a frontal view of a protective device according to the arrangements Fig. 1 and Fig. 2 is at least similarly designed;

Fig. 4

another view of the arrangement according Fig. 3 , from below;

Fig. 5

a perspective, schematic frontal view of a further embodiment of a protective device in the form of a protective gate;

Fig. 6

a simplified view of the arrangement according Fig. 5 , in the form of a top view;

Fig. 7

a further schematic view of an exemplary embodiment of a protective device in the form of a roller shutter, from below;

Fig. 8

a further schematic view of an exemplary embodiment of a protective device in the form of a folding door, from below, in a closed position; and

Fig. 9

another view of the arrangement according Fig. 8 , in a partially open position.

Fig. 1 uses a perspective frontal view to illustrate an exemplary embodiment of a protective device, designated overall by 10. The protective device 10 is designed, for example, as a gate or protective gate 12. For example, the protective gate 12 serves to enable controlled access through an opening 14. When the protective gate 12 is closed, the system 14 cannot be passed.

The opening 14 can provide access to a building, such as an operating facility or manufacturing facility. Other embodiments are conceivable. In general, the protective gate 12 can also be designated and designed as an industrial gate. At least in exemplary embodiments, the protective gate 12 is a so-called high-speed protective gate or a high-speed industrial gate. High-speed protective gates are, within the scope of the present disclosure, protective gates with closing speeds greater than 0.5 m / s. This should also not be understood as restrictive.

The protective device 10 defines a closing level 18. In the in Fig. 1 Exemplary embodiment shown, the opening 14 or the closing plane 18 is limited by (side) posts 20, 22 and by an (upper) crossbar 24.

The protective device 10 comprises at least a first closing element 26, which in the in Fig. 1 shown embodiment as a flexible closing element (Bahn) is designed. Such webs are regularly flexible and can be wound up. The closing element 26 includes a closing edge 28 that defines one end of the closing element 26. Furthermore, a second closing element 30 is provided, which in the exemplary embodiment shown is also designed as a flexible closing element and is provided with a closing edge 32. The closing edges 28, 32 face each other. In the closed state of the protective device, the closing edges 28, 32 are adjacent to one another. This can also include a state in which the closing edges 28, 32 make contact.

The plane of movement of the closing elements 28, 32 defines the closing plane 18. The closing plane 18 has a vertical extension (height direction) and a lateral extension (side extension or longitudinal extension). Movements through the closing plane 18 accordingly take place transversely to the closing plane 18 (depth extension or transverse direction).

In the in 1 to 6 shown embodiments, the gates / doors are designed as horizontally closing / horizontally running protection devices. Accordingly, the closing elements 26, 30 are based on the Figures 1 to 4 Illustrated embodiment movable laterally towards and away from each other to open or close the opening 14. The closing elements 26, 30 move horizontally in the closing plane 18. It goes without saying that embodiments with only one closing element are also conceivable in principle. The exemplary embodiments with two closing elements are therefore not to be understood as restrictive.

The closing elements 26, 30 accordingly move parallel to a floor 34 which, together with the posts 20, 22 and the crossbar 24, delimits the opening 14 or the closing plane 18.

The protective device 10 has a control device 36. The control device 36 can be a central or a distributed control device. In the present example, the control device 36 also serves to control safety functions and monitoring functions of the protective device 10.

At least one drive 38 for moving the closing elements 26, 30 can be controlled via the control device 36. The drive 38 comprises, for example, a motor, elements for power transmission also being provided. The drive 38 can also include a transmission. The drive 38 is coupled to the control device 36.

Fig. 2 shows a perspective view of the protective device 10 from below. The drive 38 is coupled to a winding shaft 40 for the closing element 26 and to a winding shaft 42 for the closing element 30. In the exemplary embodiment shown, the winding shaft 40 is arranged in the post 20 and the winding shaft 42 in the post 22. The (flexible) closing elements 26, 30 can be wound onto the winding shaft (s) 40, 42. Double arrows 44, 46 in Fig. 1 , Fig. 2 and Fig. 3 illustrate the direction of movement of the closing elements 26, 30.

Out Fig. 2 and the in Fig. 3 The frontal view shown can be seen that the protective device 10 has a horizontal guide 48, on which the closing elements 26, 30 are guided. As an example, the horizontal guide 48 is arranged on or in the crossbar 24. The horizontal guide 48 is designed, for example, as a slide guide.

In exemplary embodiments, the closing elements 26, 30 have free ends 50, 52 on the bottom side. The free ends 50, 52 can also be referred to as lower ends. At least in the embodiment according to the Figures 1 to 4 the closing elements 26, 30 are not guided at their free ends 50, 52. In other words, no horizontal guidance is provided in the area of the bottom 34. This is not to be understood as restrictive.

The opposite ends of the closing elements 26, 30 are designed as guided ends 54, 56. The guided ends 54, 56 can also be referred to as upper ends. At the guided ends 54, 56, the closing element of the 26, 30 are received on the horizontal guide 48. For this purpose, a slide 58 is provided for the closing element 26. Likewise, a slide is for the closing element 30 60 provided. The slides 58, 60 are accommodated on the horizontal guide 48 so that they can be moved horizontally (laterally). The slides 58, 60 can also be designed or designated as carriages. Accordingly, the horizontal guide 48 can also be referred to as a carriage guide.

For safe operation of the protective device 10 and in particular to avoid failures or even damage, it is necessary to detect foreign objects 62 and, if necessary, to take measures when a foreign object 62 approaches the protective device 10, see arrow 64 in FIG Fig. 1 . Measures can then be taken to avoid, at least minimize, damage, downtime and the like.

In the context of the present disclosure, approaches are presented which are primarily aimed at monitoring the closing edges 28, 32 of the closing elements 26, 30. This can be compared with a pinch protection for a window regulator, for the sake of illustration only.

Industrial gates in particular are often concerned with ensuring the necessary security, but at the same time making security devices sufficiently robust to reduce false alarms and the associated downtime.

In particular in the case of protective devices 10 with flexible, web-shaped closing elements 26, 30, false alarms can sometimes be observed when the closing elements are deflected transversely to the closing plane due to loads. Often this requires only very low forces, since the closing elements 26, 30 are often not guided separately at their free ends. This often applies to at least one edge area near the closing edges 28, 32. If the closing elements 26, 30 are kept perpendicular due to their own weight, then relatively light wind loads are sufficient, for example, to provoke a pendulum movement or the like. This can have adverse effects on the safety and monitoring functions. Deflections can arise due to the inherent dynamics of the closing elements 26, 30 during the movement.

In the context of the present disclosure, designs of monitoring devices 68 for monitoring the closing edge (s) 28, 32 are proposed. The monitoring device 68 comprises at least one sensor unit 70 with at least one sensor 72, 74 Figures 1 to 4 In the illustrated embodiment, a first sensor 72 and a second sensor 74 are provided. The first sensor 72 is assigned to the closing element 26. The second sensor 74 is assigned to the closing element 30.

The monitoring device 68 is coupled to the control device 36 as an example. In this way, the control device 36 can act on the operation of the protective device 10 as a function of signals provided by the monitoring device 68.

The sensors 72, 74 are arranged at or near the upper (guided) ends 54, 56 of the closing elements 26, 30. It is also conceivable to arrange the sensors 72, 74 directly on the slides 58, 60. The sensors 72, 74 are arranged near the horizontal guide 48 in order to be able to monitor the closing edges 28, 32 "from above". Furthermore, when the closing elements 26, 30 move, the sensors 72, 74 are moved together with the closing edges 28, 32, compare the double arrows 44, 46 in FIGS Figures 1-3 . The sensors 72, 74 are arranged and aligned in such a way that monitoring of the closing edges 28, 32 is made possible, this preferably also comprising a region of the closing edges 28, 32 near the ground. The aim of monitoring is, for example, the detection of foreign objects 72 which can be moved along the floor 34.

In 3 and 4 exemplary monitoring areas 76, 78 of the sensors 72, 74 are indicated by dashed lines. The sensors 72, 74 can, for example, be designed as laser scanners. Accordingly, a field of view of the sensors 72, 74 can be precisely defined. The monitoring areas 76, 78 can in principle be defined one-dimensionally (line), two-dimensionally (area), or three-dimensionally (spatially). Other types of sensors are conceivable. For example, the sensor unit 70 can also be designed as a radar sensor, lidar sensor or as an image sensor. Combinations of different sensor types are possible.

In the embodiment according to the Figures 3 and 4 are the monitoring areas 76, 78 each designed as levels (without or with little depth) (see the dashed line), both areas being arranged on opposite sides of the closing level 18. The closing level 18 extends between the monitoring areas 76, 78. Accordingly, the monitoring areas 76, 78 are somewhat offset from the closing elements 26, 28. An offset between the sensors 72, 74 transverse to the closing plane 18 is shown in FIG Fig. 4 indicated with 80.

This design makes it possible to monitor both closing edges 28, 32 with the two sensors 72, 74, on both sides of the closing level 18. This increases security. Furthermore, the somewhat offset arrangement of the monitoring areas 76, 78 permits robust detection even when the locking elements 26, 28 are somewhat deflected transversely to the locking plane. Even if the two closing edges 26, 28 are not ideally aligned in parallel, they can still be monitored without an excessive accumulation of false alarms.

Since the sensors 72, 74 are moved together with the closing elements 26, 30 or with their closing edges 28, 32, the closing edges 28, 32 can nevertheless be monitored precisely. Own movements of the closing elements 26, 30 transverse to the closing plane 18 are at least partially compensated for during the monitoring.

In the representations according to 3 and 4 a further sensor unit 82 is also indicated, which can also form part of the monitoring device 68. The sensor unit 82 comprises, for example, two sensors 84, 86 which are oriented away from one another with respect to the closing plane 18. As an example, the sensors 84, 86 are arranged on or at the crossbar 24. The sensors 84, 86 are arranged in a fixed manner. The sensor 84 monitors a monitoring area 88, which can be referred to as the first apron. The sensor 86 monitors a monitoring area 90, which can be referred to as the second apron.

In other words, the sensors 86, 88 primarily serve to monitor the apron, that is, to detect approaching foreign objects 62 ( Fig. 1 ) before they reach the closing level 18 or even the closing level 18. On the other hand, the sensor unit 70 with the sensors 72, 74 is used primarily for safety monitoring in the sense of collision detection (compare the above-mentioned example "pinch protection"). This security function also applies if, despite apron monitoring with the sensor unit 82, a foreign object 62 enters the closing plane 18 with closing elements 26, 30 closing.

With reference to the Figures 5 and 6 Another exemplary embodiment of a protective device 110 in the form of a protective gate 112 is illustrated. The protection device 10 according to the Figures 1 to 4 and the protection device 110 according to FIGS Figures 5 and 6 are basically similar. The following detailed descriptions therefore also apply to the embodiment of the protective device 10 according to FIGS Figures 1 to 4 , and vice versa.

The protective device 110 is designed as a protective gate 112 in order to selectively open or close an opening 114. In the opening 114 there is a closing plane 118 which is delimited by walls (or posts) 120, 122 and an (upper) crossbar 124. Compare this too Fig. 6 . Furthermore, a bottom 134 is provided which delimits the opening 114 or the closing plane 118 on the bottom side.

The protective device 110 has a first closing element 126 and a second closing element 130. The first closing element 126 has a closing edge 128. The second closing element 130 has a closing edge 132. The locking elements 126, 130 are each designed as a door leaf or door leaf. In the embodiment according to the Figures 5 and 6 the locking elements 126, 130 are designed to be sufficiently rigid. The closing elements 126, 130 are, for example, plate-shaped.

The closing edges 128, 132 of the closing elements 126, 130 face each other. In the closed state of the protective device 110, the closing edges can 128, 132 contact each other. At least a remaining distance between the closing edges 128, 132 in the closed state is very small. In Fig. 5 Double arrows 144, 146 illustrate a closing direction or direction of movement of the closing elements 126, 130.

The closing elements 126, 130 are received on an (upper) horizontal guide 148. In other words, the closing elements 126, 130 in the exemplary embodiment according to FIGS Figures 5 and 6 no guide or horizontal guide at their lower, free ends 150, 152. At their upper, guided ends 154, 156, the closing elements 126, 130 are received on carriages 158, 160 on the horizontal guide 148 and are movably guided.

The protective device 110 has a monitoring device 168 with a sensor unit 170 for monitoring the closing edges 128, 132 of the closing elements 126, 130. The sensor unit 170 has a sensor 172 which is assigned to the closing element 126 or its closing edge 128. A sensor 174 is also provided, which is assigned to the closing element 130 or its closing edge 132.

In Fig. 5 monitoring areas 176, 178 of the two sensors 172, 174 are indicated by dashed lines. For collision monitoring, it is advisable to detect an area near the closing edges 128, 132 or in front of the closing edges 128, 132. It goes without saying that the monitoring areas 176, 178 can also be designed to overlap in the direction of movement of the closing elements 126, 130. The monitoring areas 176, 178 in FIG Fig. 5 primarily for illustration purposes.

Fig. 6 illustrates a further conceivable design of the monitoring areas 176, 178. In the design according to Fig. 6 sensors 172, 174 are formed on sides of closing plane 118 facing away from one another. An offset between the sensors 172, 174 transverse to the closing plane 118 is indicated by 180.

Fig. 6 also shows that the monitoring areas 176, 178 do not necessarily have to be flat. The monitoring areas 176, 178 are, for example, slightly fanned out from the sensors 172, 174 in the direction of the respectively opposite closing edge 128, 132. In this way it is ensured that the closing edges 128, 132 can also be monitored reliably in the event of possible deflections of the closing elements 126, 130 transversely to the closing plane 118, without excessive false alarms occurring.

In the exemplary embodiment according to Fig. 6 , together with the representation in Fig. 5 , the sensor 172 monitors both the (own) closing edge 128 and the (opposite) closing edge 132 on one side of the closing level 118. On the other hand, the sensor 174 monitors both the (own) closing edge 132 and the (off) on the opposite side of the closing level closing edge 128 opposite its view). In other words, the two sensors 172, 174 form two monitoring areas / monitoring levels due to their opposite arrangement in relation to the closing level 118, which enclose the closing level 118 between them. In this way, the operational safety of the protective device 110 can be further increased.

With reference to the Figures 7 , 8 and 9 Further exemplary embodiments of protective devices 210, 310 are illustrated. The protective devices 10, 110 according to the Figures 1 to 6 and the protection devices 210, 310 according to the Figures 7 to 9 are basically similar. The following detailed descriptions therefore also apply to the configurations already illustrated, and vice versa.

Fig. 7 illustrates in a simplified view from below a design of a protective device 210 in the form of a protective door 212 designed as a roller door. The protective device 210 is designed, for example, as a horizontally closing protective door 212. The protective gate 212 has posts 220, 222 which are connected to one another via a crossbar 224. A closing plane 218 is defined between the posts 220, 222 and the crossbar 224.

The protective gate 212 has a first closing element 226 with a closing edge 228 and an opposing second closing element 230 with a closing edge 232. A drive 238 is provided for driving the closing elements 226, 230. Movements of the closing elements 226, 230 for opening and closing the protective gate 212 are shown in Fig. 7 illustrated by double arrows 244,246. A horizontal guide 248 is formed on the crossbeam 224, on which the closing elements 226, 230 are received via slides / carriages.

As already illustrated above, the protective device 210 also has a monitoring device 268 which comprises at least one sensor unit 270. The sensor unit 270 comprises a first sensor 272, which is assigned to the first closing edge 228 of the first closing element 226. Furthermore, the sensor unit 270 in FIG Fig. 7 The exemplary embodiment illustrated a second sensor 274, which is assigned to the second closing edge 232 of the second closing element 230. The two sensors 272, 274 are arranged in the closing plane 218.

The two sensors 272, 274 have monitoring areas 276, 278 which face one another and cover the closing plane 218, at least in the area of the closing edges 228, 232. In this way, the closing edges 228, 232 of the closing elements 226, 230 can be monitored directly.

8 and 9 illustrate in a simplified view from below a design of a protective device 310 in the form of a protective door 312 designed as a folding door. The protective device 310 is designed, for example, as a horizontally closing protective door 312. The protective gate 312 has posts 320, 322 which are connected to one another via a crossbar 324. A closing plane 318 is defined between the posts 320, 322 and the crossbar 324. Fig. 8 illustrates a closed state. Fig. 9 illustrates a partially opened state of protection device 310.

The protective device 310 has a first closing element 326 with a first closing edge 328 and a second closing element 330 with a second closing edge 332 on. In the closed representation according to Fig. 8 contact the closing edges 328, 332. The movement of the closing elements 326, 330 when opening and closing the protective device 310 is indicated by double arrows 344, 346 in Fig. 9 illustrated. A horizontal guide 348 is formed on the crossbar 324, on which the closing elements 326, 330 are received via slides / trolleys. When the closing elements 326, 330 are opened and closed, they are unfolded or folded.

The protective device 310 has a monitoring device 368 with a sensor unit 370. The sensor unit 370 comprises a first sensor 372 and a second sensor 374. The first sensor 372 comprises a monitoring area 376. The second sensor 374 comprises a monitoring area 378. The sensors 372, 374 are in the immediate vicinity of the closing edges 328, 332 on the respective closing element 326, 330 added. In the in the Figures 8 and 9 In an illustrative embodiment, the sensors 372, 374 are firmly coupled to the closing elements 326, 330, so that a “visual axis” of the respective monitoring areas 376, 378 changes together with the folding movement of the closing elements 326, 330.

In other words, the sensors 372, 374 are pivoted in relation to the (ideal) closing plane 318 during the folding movement of the closing elements 326, 330 on account of their assignment to the closing edge 328, 332. However, this design also allows direct monitoring of the closing edges 328, 332 when the closing elements 326, 330 are opened and closed. An “opening angle” of the monitoring areas 376, 378, based on the illustration in FIG Fig. 9 , can be selected such that the closing level 318 is also adequately monitored by the sensors 372, 374 when the protective device 310 is opened and closed.

Claims (15)

Protection device (10, 110, 210, 310) for closing an opening (14, 114), in particular a building opening, the protection device (10, 110, 210, 310) comprising: - At least one horizontally movable closing element (26, 30; 126, 130; 226, 230; 326, 330), in particular a fast-running closing element (26, 30; 126, 130; 226, 230; 326, 330), with a closing edge ( 28, 32; 128, 132; 228, 232; 328, 332), the closing element (26, 30; 126, 130; 226, 230; 326, 330) being horizontal in a closing plane (18, 118, 218, 318) can be moved between an open position and a closed position, - a horizontal guide (48, 148, 248, 348) on which at least one horizontally displaceable carriage (58, 60, 158, 160) is received, which slides the closing element (26, 30; 126, 130; 226, 230; 326, 330) carries - A drive (38, 238) for driving the closing element (26, 30; 126, 130; 226, 230; 326, 330), and a monitoring device (68, 168, 268, 368) with at least one sensor unit (70, 170, 270, 370) for monitoring a locking level (18, 118, 218, 318),
characterized in that the sensor unit (70, 170, 270, 370) has at least one sensor (72, 74; 172, 174; 272, 274; 372, 374), which together with the closing element (26, 30; 126, 130 ; 226, 230; 326, 330) can be moved horizontally, and
that the at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) is preferably adjacent to the horizontal guide (48, 148, 248, 348) and the closing plane (18, 118, 218, 318) from above supervised. Protective device (10, 110, 210, 310) according to claim 1, characterized in that the at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) is fixed to the carriage (58, 60, 158, 160 ) is arranged and movable with it, and / or that the at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) is fixed on the closing element (26, 30; 126, 130; 226, 230; 326 , 330) and can be moved with it Protective device (10, 110, 210, 310) according to claim 1 or 2, characterized in that the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330) in the region of its closing edge (28, 32; 128, 132; 228, 232; 328, 332) is guided at its upper end (54, 56, 154, 156) through the carriage (58, 60, 158, 160). Protection device (10, 110, 210, 310) according to any one of claims 1 to 3, characterized in that the monitoring device (68, 168, 268, 368) cooperates with the drive (38, 238) to over in the event of an impending collision the drive (38, 238) to act on the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330). Protection device (10, 110, 210, 310) according to one of claims 1 to 4, characterized in that the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330) at its lower end (50, 52, 150, 152) is held without a guide, at least in the area of the closing edge (28, 32; 128, 132; 228, 232; 328, 332). Protection device (10, 110, 210, 310) according to any one of claims 1 to 5, characterized in that the at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) as an optical sensor, in particular as a laser scanner is designed. Protective device (10, 110, 210, 310) according to one of claims 1 to 6, characterized in that the at least one sensor (72, 74; 172, 174; 272, 274; 372, 374) at least the closing edge (28, 32 ; 128, 132; 228, 232; 328, 332) of the closing element (26, 30; 126, 130; 226, 230; 326, 330) and preferably one Area in the closing direction in front of the closing edge (28, 32; 128, 132; 228, 232; 328, 332) monitored. Protective device (10, 110, 210, 310) according to one of Claims 1 to 7, characterized in that the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330) as a flexible closing element (26, 30 ; 126, 130; 226, 230; 326, 330) and that a winding mechanism (40, 42) is preferably provided for the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330) . Protection device (10, 110, 210, 310) according to any one of claims 1 to 8, characterized in that the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330) is designed as a rigid door leaf or door leaf , and that the horizontal guide (48, 148, 248, 348) for the at least one closing element (26, 30; 126, 130; 226, 230; 326, 330) has a longitudinal extension which releases the opening (14, 114) enables. Protective device (10, 110, 210, 310) according to one of claims 1 to 9, characterized by a first closing element (26, 126, 226, 326) and a second closing element (30, 130, 230, 330), the first closing element (26, 126, 226, 326) and the second closing element (30, 130, 230, 330) can be moved towards and away from each other to close or open the opening (14, 114), and preferably the first closing element (26, 126, 226, 326) a first sensor (72, 172, 272, 372) and the second closing element (30, 130, 230, 330) a second sensor (74, 174, 274, 374) for monitoring closing edges (28, 32; 128, 132; 228, 232; 328, 332) of the closing elements (26, 30; 126, 130; 226, 230; 326, 330) is assigned. Protective device (10, 110, 210, 310) according to claim 10, characterized in that the first closing element (26, 126, 226, 326) on a first carriage (58, 60, 158, 160) and the second closing element (30, 130, 230, 330) on a second carriage (58, 60, 158, 160), and that both in the first Carriage (58, 60, 158, 160) as well as in the second carriage (58, 60, 158, 160) a sensor (72, 74; 172, 174; 272, 274; 372, 374) of the sensor unit (70, 170 , 270, 370) is provided. Protective device (10, 110, 210, 310) according to claim 10 or 11, characterized in that the first sensor (72, 172, 272, 372) and the second sensor (74, 174, 274, 374) face each other in that the first sensor (72, 172, 272, 372) monitors a first monitoring area (76, 176, 276, 376), and the second sensor (74, 174, 274, 374) monitors a second monitoring area (78, 178, 278, 378) monitors. Protection device (10, 110, 210, 310) according to any one of claims 10 to 12, characterized in that the first sensor (72, 172, 272, 372) and the second sensor (74, 174, 274, 374) offset parallel to each other and that the first monitoring area (76, 176, 276, 376) and the second monitoring area (78, 178, 278, 378) are arranged on opposite sides of the closing plane (18, 118, 218, 318). Protective device (10, 110, 210, 310) according to claim 12 or 13, characterized in that the first monitoring area (76, 176, 276, 376) monitors both closing edges on a first side of the closing level (18, 118, 218, 318 ) and that the second monitoring area (78, 178, 278, 378) allows monitoring of both closing edges on a second side of the closing level (18, 118, 218, 318). Protective device (10, 110, 210, 310) according to one of claims 1 to 14, characterized in that the monitoring device (68, 168, 268, 368) furthermore with a sensor unit (70, 170, 270, 370) for monitoring at least one Apron (88, 90) of the closing plane (18, 118, 218, 318) is provided.

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