Industrial robot system comprising a programmable unit

• US 20050060064A1
• Filed: 09/27/2002
• Published: 03/17/2005
• Est. Priority Date: 10/01/2001
• Status: Abandoned Application

• Current Assignee: ABB AB (ABB Limited)
• Original Assignee: ABB AB (ABB Limited)
• Inventors: Valen, Roald, Sjoberg, Ralph
• Application Number:
  US10/491,295
• Publication Number:
  US 20050060064A1
• Time in Patent Office: Days
• US Class Current: 700/264
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: H01H 9/0235 specially adapted for remote control, e.g. of audio or video apparatus

Abstract

The invention concerns a robot system comprising an industrial robot provided with a control system and an arrangement for programming of the robot. The arrangement comprises a data processing unit, a screen connected to the data-processing unit and an application program to program the robot. The programmable and controllable unit, the TPU, is portable and arranged with a grip surface for the gripping hand of an operator.

Claims

1. An industrial robot system comprising a industrial robot including a manipulator, a control system and a portable programming and control unit, connected to the control system for programming and operating the robot, the programming and control unit being enclosed and provided with a handle comprising a gripping surface for the gripping hand of an operator, wherein

the programming and control unit is adapted to adopt a first operating position for a gripping right hand, in which position the robot is operated with the left hand,

the programming and control unit is adapted to adopt a second operating position for a gripping left hand, in which position the robot is operated with the right hand,

the programming and control unit is arranged to be rotated through 180 degrees when moved between the operating positions and,

the gripping surface is arranged symmetrically around a longitudinal line to allow comfortable gripping by either a right or a left hand,

a first function control is adapted to orient a picture, on a display screen arranged on the programming and control unit, so as to be legible to an operator, and

a second function control with the function of an enabling device is adapted to be integrated into the gripping surface.

2. An industrial robot system according to claim 1, wherein a second function control and a third function control are arranged within the gripping area of a hand in the first operating position or the second operating position.

3. An industrial robot system according to any claim 1, wherein the programming unit is connected via a cable to the control system.

4. An industrial robot system according to claim 3, wherein the envelope surface of the cable is painted red such that the risk of damage of the cable lying on the floor is reduced.

25. Use of an industrial robot according to claim 1, a portable programming and control unit for programming an industrial robot according to claim 5, and a method according to claim 21 for wireless connection to an optional industrial robot.

5. A portable programming and control unit for programming and operating an industrial robot including a manipulator and a control system, said programming and control unit being enclosed and provided with a handle comprising a gripping surface for the gripping hand of an operator, a display screen adapted to show a picture, and a plurality of function controls, characterized in that wherein

the gripping surface is arranged symmetrically around a longitudinal line to allow comfortable gripping by either a right or a left hand,

the programming and control unit is adapted to adopt a first operating position for a right hand and second operating position for a left hand,

the programming and control unit is adapted to be rotated through 180 degrees when moved between the operating positions and the display screen being visible to the operator in both positions,

a first function control is provided with the function of orienting the picture on the display screen so as to be legible to the operator, and

a second function control with the function of an enabling device is adapted to be integrated into the gripping surface.

6. A programming unit according to claim 5, wherein the gripping surface and the second function control are arranged on the unit to make it possible for an operator to carry the unit and at the same time activate the second function control with the same left hand/right hand.

7. A programming unit according to claim 5, wherein the gripping surface at least partly consists of a layer of a flexible material in the form of an elastic diaphragm.

8. A programming unit according to claim 7, wherein the second function control is adapted to be covered by the elastic diaphragm.

9. A programming unit according to claim 5, wherein the gripping surface is designed to fit both a left hand and a right hand.

10. A programming unit according to claim 5, wherein the second function control comprises a multi-channel contact that is provided with a clamp and at least two circuit breakers, where the circuit breakers are arranged in spaced relationship to each other and where the clamp is adapted to influence all the circuit breakers.

11. A programming unit according to claim 5, wherein at least a third function control is provided with a hold-to-run function.

12. A programming unit according to claim 11, wherein the third function control is arranged within reach of a gripping hand in a gripping position on the gripping surface.

13. A programming unit according to claim 11, wherein a third function control is arranged on the programming unit within the gripping area of a right hand and an additional third function control arranged within the gripping area of a left hand.

14. A programming unit according to claim 11, wherein the third function control is arranged within reach of the thumb of the operator'"'"'s gripping hand.

15. A programming unit according to claim 5, wherein at least one function control with an emergency stop function is arranged on the programming unit.

16. A programming unit according to claim 15, wherein a first and a second function control with an emergency stop function are arranged symmetrically/diagonally on the programming and control unit.

17. A programming unit according to claim 15, wherein the programming and control unit is connected via wireless connection to the control system.

18. A programming unit according to claim 5, wherein the programming and control unit is connected via a cable to the control system.

19. A programming unit according to claim 18, wherein the envelope surface of the cable is painted red such that the risk of damage of the cable lying on the floor is reduced.

20. A programming unit according to claim 5, wherein the gripping surface is symmetrically shaped around a longitudinal symmetry line.

21. A method in an industrial robot system comprising an industrial robot including a manipulator, a control system, and a portable programming and control unit connected to the control system for programming and operating the robot, the programming and control unit being provided with a handle comprising a gripping surface for the gripping hand of an operator and a display screen adapted to show a picture to an operator as well as at least one function control, the method comprising:

gripping the programming and control unit with a gripping hand,

upon gripping the programming and control unit activating a second function control with the function of an enabling device adapted integrated in the gripping surface,

rotating/turning the programming and control unit when moving the programming and control unit from a first operation position in a gripping and activating right hand to a second operating position in a gripping and activating left hand,

rotating/turning the programming and control unit when moving the programming and control unit from a second operation position in a gripping and activating left hand to a first operating position in a gripping and activating right hand,

orienting the picture on the display screen into an orientation legible to the operator through activating a first function control.

22. A method according to claim 21, wherein the operator, by gripping the programming unit with his right hand/left hand on the gripping surface, holds and carries the unit.

23. A method according to claim 22, wherein the operator both carries the unit and activates a second function control with the same hand.

24. A method according to claim 21, wherein the operator carries the unit, activates a second function control and, in addition, activates a function control with a hold-to-run function with the same hand.