Handheld robot operation unit with an adapter device for a mobile terminal device

• US 9,981,378 B2
• Filed: 04/13/2016
• Issued: 05/29/2018
• Est. Priority Date: 04/13/2015
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Deutschland GmbH (Midea Group Co., Ltd)
• Inventors: Kogan, Yevgen, Riedel, Martin
• Primary Examiner(s): Sinclair, David M
• Assistant Examiner(s): Brown, Robert
• Application Number:
  US15/097,639
• Publication Number:
  US 20160297067A1
• Time in Patent Office: 776 Days
• 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: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/35488 Graphical user interface, labview
• CPC Class Codes: G05B 2219/36159 Detachable or portable programming unit, display, pc, pda
• CPC Class Codes: G05B 2219/36168 Touchscreen

Abstract

A handheld robot operation unit comprises a basic safety control device, a mobile terminal device, and a holder configured to mount the mobile terminal device on the basic safety control device. The holder comprises at least one adapter device configured to mechanically connect the mobile terminal device to the basic safety control device.

Claims

1. A handheld robot operation unit, comprising:

a basic safety control device;

a mobile terminal device; and

a holder configured to mount the mobile terminal device on the basic safety control device;

the holder comprising at least one adapter device configured to mechanically connect the mobile terminal device to the basic safety control device;

wherein the basic safety control device comprises a first handheld operation unit part and at least one second handheld operation unit part that is selectively adjustable relative to the first handheld operation unit part;

the first and second handheld operation unit parts selectively adjustable between at least a first compact configuration that forms a reduced contour handheld robot operation unit, and a second expanded configuration wherein the second handheld operation unit part is offset from the first handheld operation unit part and the handheld robot operation unit accommodates the mobile terminal device with the adapter device, wherein the first and second handheld operation parts abut one another in the first configuration to define the reduced contour handheld robot operation unit; and

wherein the basic safety control device is operable in the first, compact configuration to generate signals that control a robot without the mobile terminal device.

2. The handheld robot operation unit of claim 1, wherein:

the adapter device comprises at least one adjustable holding element having at least a closed position and an open position;

in the closed position, the adjustable holding element connects the mobile terminal device with the basic safety control device in at least one of a form-locking or a force-locking manner; and

in the open position, the adjustable holding element mechanically releases the mobile terminal device for separation from the basic safety control device.

3. The handheld robot operation unit of claim 2, wherein the adjustable holding element connects the mobile terminal device with the basic safety control device on at least two diagonally opposite corners of the mobile terminal device in the closed position.

4. The handheld robot operation unit of claim 1, wherein the basic safety control device comprises at least one of:

at least one emergency stop;

at least one enabling device;

at least one operating mode selector;

or

a display.

5. The handheld robot operation unit of claim 4, wherein at least one of the first or second handheld operation unit parts comprises the at least one of the at least one emergency stop, the at least one enabling device, the at least one operating mode selector, or the display.

6. The handheld robot operation unit of claim 4, wherein the display is an electronic display.

7. The handheld robot operation unit of claim 1, wherein,

the basic safety control device comprises at least one of:

at least one emergency stop,

at least one enabling device,

at least one operating mode selector, or

a display; and

in the first compact configuration, the basic safety control device is controlled by at least one of;

the at least one emergency stop,

the at least one enabling device, or

the at least one operating mode selector.

8. The handheld robot operation unit of claim 1, wherein:

the adapter device comprises at least one adjustable holding element having at least a closed position and an open position;

in the closed position, the adjustable holding element connects the mobile terminal device with the basic safety control device in at least one of a form-locking or a force-locking manner;

in the open position, the adjustable holding element mechanically releases the mobile terminal device for separation from the basic safety control device; and

at least one of the first handheld operation unit part or the second handheld operation unit part forms the adapter device, and/or the second handheld operation unit part comprises the adjustable holding element.

9. The handheld robot operation unit of claim 8, wherein the first handheld operation unit part forms the adapter device, and the second handheld operation unit part comprises the adjustable holding element.

10. The handheld robot operation unit of claim 1, wherein the adapter device comprises at least one elastically deformable holding element configured to connect the mobile terminal device to the basic safety control device under elastic pretension.

11. The handheld robot operation unit of claim 1, wherein the adapter device comprises at least one exchangeable holding element that is selectively connectable and releasable with the basic safety control device, and is received over at least one edge section of the mobile terminal device in at least one of a form-locking or a force-locking manner.

12. The handheld robot operation unit of claim 11, wherein the at least one exchangeable holding element is a frame-shaped exchangeable holding element.

13. The handheld robot operation unit of claim 1, wherein the adapter device comprises a multi-part frame that comprises individual struts and corner connectors connecting the individual struts.

18. The handheld robot operation unit of claim 1, wherein the mobile terminal device comprises:

a program-controlled electronic data processor including a non-transitory computer-readable storage medium;

a touch display; and

a program stored on the electronic data processor and operated via the touch display;

the program, when executed by the data processor, configured to perform at least one of;

compiling robot programs, or

controlling a robot.

19. The handheld robot operation unit of claim 18, wherein the program, when executed by the data processor, controls the robot to move a robot arm.

14. A handheld robot operation unit, comprising:

a basic safety control device;

a mobile terminal device; and

a holder configured to mount the mobile terminal device on the basic safety control device;

the holder comprising at least one adapter device configured to mechanically connect the mobile terminal device to the basic safety control device;

wherein the basic safety control device comprises a first handheld operation unit part and at least one second handheld operation unit part that is selectively adjustable relative to the first handheld operation unit part;

the first and second handheld operation unit parts selectively adjustable between at least a first compact configuration that forms a reduced contour handheld robot operation unit, and a second expanded configuration wherein the second handheld operation unit part is offset from the first handheld operation unit part and the handheld robot operation unit accommodates the mobile terminal device with the adapter device, wherein the first and second handheld operation parts abut one another in the first configuration to define the reduced contour handheld robot operation unit;

wherein the adapter device comprises a multi-part frame that comprises individual struts and corner connectors connecting the individual struts; and

wherein;

at least one of the struts is configured as a rail to which a spacer is adjustably mounted along a longitudinal extension of the rail and is received over an edge section of the mobile terminal device in at least one of a form-locking or a force-locking manner;

or

at least one of the struts comprises multiple mounting locations disposed at intervals along a longitudinal extension of the strut, and a spacer that is received over an edge section of the mobile terminal device in at least one of a form-locking or a force-locking manner is mounted to at least one of the mounting locations.

15. A handheld robot operation unit, comprising:

a basic safety control device;

a mobile terminal device; and

a holder configured to mount the mobile terminal device on the basic safety control device;

the holder comprising at least one adapter device configured to mechanically connect the mobile terminal device to the basic safety control device;

wherein the basic safety control device comprises a first handheld operation unit part and at least one second handheld operation unit part that is selectively adjustable relative to the first handheld operation unit part;

the first and second handheld operation unit parts selectively adjustable between at least a first compact configuration that forms a reduced contour handheld robot operation unit, and a second expanded configuration wherein the second handheld operation unit part is offset from the first handheld operation unit part and the handheld robot operation unit accommodates the mobile terminal device with the adapter device, wherein the first and second handheld operation parts abut one another in the first configuration to define the reduced contour handheld robot operation unit; and

wherein;

the adapter device comprises a multi-part frame that comprises individual struts and corner connectors connecting the individual struts;

the basic safety control device comprises multiple control components accommodated in separate housings; and

at least one of the multiple housings is mounted on at least one of the individual struts or corner connectors.

16. The handheld robot operation unit of claim 15, wherein the multiple control components comprise at least one of:

at least one emergency stop;

at least one enabling device;

or

at least one operating mode selector.

17. The handheld robot operation unit of claim 15, wherein at least one of the multiple housings is mounted on at least one of the individual struts or corner connectors in a manually removable manner.