Handheld robot operation unit and corresponding method

Patent metadata

Field	Value
Publication number	US-10099383-B2
Application number	US-201615097602-A
Country	US
Kind code	B2
Filing date	Apr 13, 2016
Priority date	Apr 13, 2015
Publication date	Oct 16, 2018
Grant date	Oct 16, 2018

Abstract

A handheld robot operation unit includes a housing having a handle-like grip section, a basic safety control device arranged in the housing, and at least one holder connected to the housing and configured for manually detachably coupling the housing to a device that is different from the handheld robot operation unit and which electronically communicates with the basic safety device. The holder includes a first holding arm for mechanically connecting the handheld robot operation unit to a first edge section of the device, with an opposite edge section of the device being free. A second holding arm is configured to mechanically connect the handheld robot operation unit to a second edge section of the device, adjacent the first edge section and forming a corner section of the device, with an edge section of the device opposite the second edge section being free. A corresponding method is disclosed.

First claim

What is claimed is:

1. A handheld robot operation unit, comprising:
a housing having a handle-like grip section;
a basic safety control device arranged in the housing; and
at least one holder connected to the housing and configured to manually detachably couple the housing to a device separate from the handheld robot operation unit and which electronically communicates with the basic safety control device;
the holder comprising:
a first holding arm configured to mechanically connect the handheld robot operation unit to a first edge section of the separate device such that an opposite edge section of the separate device remains free, and
a second holding arm configured to mechanically connect the handheld robot operation unit to a second edge section of the separate device that is adjacent the first edge section and forms a corner section of the separate device, such that a third edge section of the separate device opposite the second edge section remains free;

wherein the first holding arm and the second holding arm comprise at least one holding bracket having an L-shaped or U-shaped cross-section, and a compression plate adjustably supported relative to the holding bracket.

2. The handheld robot operation unit of claim 1 , wherein:
the first holding arm comprises a first groove-like seat configured to engage around the first edge section of the separate device;
the second holding arm comprises a second groove-like seat configured engage around the second edge section of the device; and
the second groove-like seat is arranged with its longitudinal extension disposed at a right angle relative to the first groove-like seat.

3. The handheld robot operation unit of claim 1 , wherein the housing further comprises:
a first housing leg at which the first holding arm is arranged; and
a second housing leg at which the second holding arm is arranged;
the first housing leg and the second housing leg defining a plane of the housing that extends parallel to a primary plane of the separate device when the separate device is received in the housing, and from which the handle-like grip section of the handheld robot operation unit extends downwardly away from the plane of the housing.

4. The handheld robot operation unit of claim 3 , wherein the handle-like grip section of the handheld robot operation unit extends perpendicularly away from the plane of the housing.

5. The handheld robot operation unit of claim 1 , wherein the at least one holding bracket comprises a first groove-like seat and a second groove-like seat associated with the first and second holding arms, respectively.

6. The handheld robot operation unit of claim 1 , wherein the compression plate is biased by a spring force into a default position, and is movable to a seated position for supporting the separate device such that the two edge sections of the separate device that form a corner are seated in at least one of a form-fitting manner or a force-fitting manner when the handheld robot operation unit is attached to the separate device by the first holding arm and the second holding arm.

7. The handheld robot operation unit of claim 6 , wherein the two edge sections of the separate device that form a corner are attached by a first groove-like seat and a second groove-like seat associated with the first and second holding arms, respectively.

8. The handheld robot operation unit of claim 1 , wherein:
the first holding arm and the second holding arm further comprise an abutment surface configured to contact a front surface of the separate device when the separate device is coupled with the handheld robot operation unit; and
the compression plate contacts a rear surface of the separate device, with the compression plate adjustably supported such that different thicknesses of separate devices are seated in the housing relative to the abutment surface.

9. The handheld robot operation unit of claim 8 , wherein the abutment surface comprises a first groove-like seat and a second groove-like seat associated with the first and second holding arms, respectively.

10. The handheld robot operation unit of claim 8 , wherein the compression plate is supported in a linearly adjustable fashion relative to the abutment surface.

11. The handheld robot operation unit ofclaim 10 , wherein the adjustable compression plate is supported together with the handle-like grip section in a linearly adjustable manner.

12. The handheld robot operation unit of claim 10 , wherein the adjustable compression plate is adjustably supported relative to the abutment surface and the handle-like grip section.

13. The handheld robot operation unit of claim 12 , wherein the handle-like grip section is rigidly fixed relative to the abutment surface.

14. The handheld robot operation unit of claim 8 , wherein the compression plate is pivotally supported relative to the abutment surface.

15. The handheld robot operation unit of claim 1 , wherein the first holding arm and the second holding arm comprise a clamping profile formed from an elastic material.

16. The handheld robot operation unit of claim 15 , wherein the first groove-like seat and the second groove-like seat of the first and second holding arms comprise the clamping profile.

17. The handheld robot operation unit of claim 15 , wherein the clamping profile comprises a hollow-chamber profile.

18. The handheld robot operation unit of claim 15 , wherein the clamping profile is expandable by a fluid to generate a clamping force.

19. The handheld robot operation unit of claim 18 , wherein the clamping profile is expandable by compressed air to generate the clamping force.

20. The handheld robot operation unit of claim 1 , wherein the basic safety control device ( 17 ) comprises at least one of:
an emergency stop trigger;
enabling device;
an operating type selector;
at least a 3D-6D-mouse; or
a display.

21. The handheld robot operation unit of claim 20 , wherein the basic safety control device comprises an electronic display.

22. The handheld robot operation unit of claim 1 , wherein the holder is configured to manually detachably couple the housing to a separate device which is at least one of a robot arm, a robot control base, a mobile robot platform, or a mobile terminal.

23. The handheld robot operation unit of claim 22 , wherein the holder is configured to manually detachably couple the housing to a computer tablet.

24. The handheld robot operation unit of claim 1 , further comprising a manual actuator, the manual actuator having a locking position wherein the holder is maintained in a clamped condition against the separate device, and an unlocking position wherein the holder is release from the clamped condition.

25. The handheld robot operation unit of claim 24 , wherein the manual actuator is arranged on the handle-like grip section.

Assignees

• Kuka Roboter Gmbh

Inventors

• Riedel Martin

Classifications

• B25J13/06 Primary

  Control stands, e.g. consoles, switchboards · CPC title

• B25J13/02 Primary

  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 title

• B25J9/1689

  Teleoperation · CPC title

• B25J13/065

  comprising joy-sticks · CPC title

• B25J13/025 Primary

  comprising haptic means · CPC title