Shared operating unit for a network of programmable equipment

• US 6,697,681 B1
• Filed: 03/22/2000
• Issued: 02/24/2004
• Est. Priority Date: 03/22/2000
• Status: Expired due to Term

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: Trellis Software & Controls, Inc. (HP Inc.)
• Inventors: Kneifel, R. William II, Sattler, Jason A., Stoddard, Kenneth A.
• Primary Examiner(s): Gordon, Paul P.
• Assistant Examiner(s): BARNES-BULLOCK, CRYSTAL JOY
• Application Number:
  US09/532,393
• Time in Patent Office: 1,434 Days
• Field of Search: 700/11, 700/247-249, 700/264, 700/9, 700/2-4, 700/17, 700/19, 700/20, 700/83, 700/159, 700/169, 700/85, 700/65, 340/3.1, 340/3.9, 340/825.22, 340/825.23, 345/156, 345/174
• US Class Current: 700/17
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: G05B 2219/36162 Pendant control box
• CPC Class Codes: G05B 2219/39443 Portable, adapted to handpalm, with joystick, function keys, display
• CPC Class Codes: G05B 2219/39448 Same teach pendant connects to many robot controllers over network
• CPC Class Codes: Y02P 80/10 Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
• CPC Class Codes: Y02P 90/80 Management or planning

Abstract

A device on a network having multiple units of programmable industrial equipment includes a control handle connected to a controller for a unit of the programmable equipment and a shared operating unit selectively connected to the control handle for controlling the unit of programmable industrial equipment through the controller. Further, the shared operating unit is adapted to connect to the network for communicating with each unit of programmable equipment on the network.

Claims

1. A device on a network having multiple units of programmable equipment, comprising:

a control handle connected to a programmable controller for a unit of said programmable equipment; and

a shared operating unit selectively connected to said control handle for controlling said unit of said programmable equipment through said controller and adapted to connect to the network for communicating with each unit of programmable equipments;

wherein said control handle indicates to said shared operating unit a unique association with said controller connected to said control handle.

2. An apparatus comprising:

a control handle connected to a programmable controller for a unit of programmable equipment; and

a shared operating unit controlling said unit of programmable equipment through a unique association with said controller by selective connection to said control handle, said shared operating unit being adapted to connect to a communication network.

3. The device of claim 2 wherein said control handle provides an emergency stop function.

4. The device of claim 3 wherein said control handle provides manual motion control of said programmable equipment.

5. The device of claim 4 wherein said manual motion control is provided by a jog button.

6. The device of claim 4 wherein said manual motion function is provided by a multiple degree of freedom motion control mechanism.

7. The device of claim 4 wherein said control handle includes an enable switch.

8. The device of claim 2 wherein said shared operating unit selectively provides tethered functions and non-tethered functions, said tethered functions only being available in conjunction with an emergency stop function.

9. The device of claim 8 wherein said tethered functions include manual motion control of said unit of programmable industrial equipment connected to said control handle.

10. The device of claim 9 wherein said manual motion control is provided by a touch screen on said shared operating unit.

11. The device of claim 8 wherein said tethered functions include program start in a test mode.

12. The device of claim 8 wherein said tethered functions include program step in a test mode.

13. The device of claim 8 wherein said non-tethered functions include monitoring any said controller and any said unit of programmable equipment connected to the network.

14. The device of claim 2 wherein said shared operating unit selectively provides controller permission functions when permission is granted by said controller.

15. The device of claim 14 wherein said controller permission functions include programming said unit of programmable industrial equipment connected to said controller.

16. The device of claim 2 wherein said shared operating unit is physically connected to said control handle.

17. The device of claim 2 wherein said shared operating unit is wirelessly connected to said control handle.

18. The device of claim 2 wherein said shared operating unit is physically connected to the network.

19. The device of claim 2 wherein said shared operating unit is wirelessly connected to the network.

20. The device of claim 2 wherein said shared operating unit includes a touch screen, and further comprising a fingertip stylus for use with said touch screen.

21. The apparatus of claim 2 wherein said shared operating unit is operable to communicate with multiple units of programmable equipment through said network.

22. The apparatus of claim 2 wherein said control handle provides a unique association with said controller connected to said control handle.

23. The apparatus of claim 22 wherein said control handle communicates to said shared operating unit said unique association.

24. A robot-control system, comprising:

multiple units of programmable industrial equipment, each unit of programmable industrial equipment including a programmable controller;

a control handle connected to each controller, wherein said control handle indicates to said shared operating unit a unique association with said controller connected to said control handle; and

a shared operating unit selectively connected to one of said control handles, said shared operating unit controlling said programmable industrial equipment through said controller connected to said control handle and adapted to communicate each controller of the network.

25. A method for operating a network of programmable industrial equipment comprising:

sharing an operating unit among said programmable industrial equipment;

providing a control handle for each unit of industrial equipment, said control handle adapted to connect to said operating unit;

controlling one unit of said programmable industrial equipment by connecting said operating unit to said control handle associated with said one unit of said programmable industrial equipment; and

uniquely associating said shared operating unit with said unit of programmable equipment.

26. The method according to claim 25 wherein said step of uniquely associating said shared operating unit with said unit of programmable equipment includes providing said shared operating unit with tethered functions for control of said unit of programmable industrial equipment.

27. A method for operating a network of programmable industrial equipment, comprising:

organizing said network into network cells having groups of said programmable industrial equipment;

providing a control handle for each unit of said programmable industrial equipment;

providing an operating unit to each said network cell;

sharing said operating unit among said programmable industrial equipment in each of said network cells;

connecting said operating unit to one unit of said programmable industrial equipment through said control handle;

controlling said one unit of said programmable industrial equipment through said connection; and

communicating with said network of programmable Industrial equipment through said connection.

28. The method according to claim 27 wherein said operating unit is specific to one of said network cells of programmable equipment, whereby each of said network cells of programmable equipment includes its own operating unit.

29. The method according to claim 27 wherein said step of connecting said operating unit is a wireless connection.

30. The method of claim 27 wherein said step of connecting said operating unit is a physical connection.

31. The method according to claim 27 further comprising the step of:

uniquely associating the shared operating unit with said unit of programmable equipment.

32. The method according to claim 27, wherein said step of uniquely associating said shared operating unit with said unit of programmable equipment includes providing said shared operating unit with tethered functions for control of said unit of programmable industrial equipment.

33. A method for operating a network of programmable industrial equipment comprising:

providing a control handle for each unit of said programmable industrial equipment;

sharing an operating unit among said programmable industrial equipment, said shared operating unit adapted to connect to a network; and

controlling one unit of said programmable industrial equipment through said operating unit by connecting said operating unit to said control handle associated with said unit of said programmable industrial equipment and indicating a unique association to said shared operating unit.

34. The method according to claim 33 further comprising:

communicating with any unit of said programmable industrial equipment by connecting said operating unit to said control handle associated with said one unit of said programmable industrial equipment.

35. The method of claim 33 further comprising said operating unit communicating with multiple units of programmable equipment through said network.

36. The method of claim 33 further comprising providing a unique association between said shared operating unit and said controller associated with said control handle.

37. The method of claim 36 further comprising communicating said unique association from said control handle to said shared operating unit.

38. A robot-control system, comprising:

multiple units of programmable industrial equipment, each unit of programmable industrial equipment including a programmable controller;

a control handle connected to each controller; and

a shared operating unit for controlling said unit of programmable industrial equipment through a unique association with said controller by selective connection to said control handle for said unit of programmable industrial equipment, said shared operating unit adapted to communicate with said each controller.

39. The system of claim 38 wherein said control handle provides an emergency stop function.

40. The system of claim 38 wherein said control handle provides manual control of said programmable industrial equipment.

41. The system of claim 40 wherein said manual motion control is provided by a jog button.

42. The system of claim 40 wherein said manual motion function is provided by a multiple degree of freedom motion control mechanism.

43. The system of claim 40 wherein said control handle includes an enable switch.

44. The system of claim 38 wherein said shared operating unit selectively provides tethered functions and non-tethered functions, said tethered functions only being available in conjunction with an emergency stop function.

45. The system of claim 44 wherein said tethered functions include manual motion control of said unit of programmable equipment connected to said control handle.

46. The system of claim 45 wherein said manual motion control is provided by a touch screen on said shared operating unit.

47. The system of claim 44 wherein said tethered functions include program start in a test mode.

48. The system of claim 44 wherein said tethered functions include program step in a test mode.

49. The system of claim 44 wherein said non-tethered functions include monitoring any said controller and any said unit of programmable equipment connected to the network.

50. The system of claim 38 wherein said shared operating unit selectively provides controller permission functions when permission is granted by said controller.

51. The system of claim 50 wherein said controller permission functions include programming said robot connected to said controller.

52. The system of claim 38 wherein said shared operating unit is physically connected to said control handle.

53. The system of claim 38 wherein said shared operating unit is wirelessly connected to said control handle.

54. The system of claim 38 wherein said shared operating unit is physically connected to the network.

55. The system of claim 38 wherein said shared operating unit is wirelessly connected to the network.

56. The system of claim 38 further comprising a cradle for supporting said control handle and said shared operating unit.

57. The system of claim 38 wherein said shared operating unit includes a touch screen, and further comprising a fingertip stylus for use with said touch screen.

58. The system of claim 38 wherein said control handle provides a unique association with said controller connected to said control handle.

59. The system of claim 38 wherein said control handle communicates to said shared operating unit said unique association.

60. The system of claim 38 wherein said shared operating unit is operable to communicate with multiple units of programmable equipment through a network.