Robot training system including a motion bar

Patent metadata

Field	Value
Publication number	US-11260538-B2
Application number	US-201916545229-A
Country	US
Kind code	B2
Filing date	Aug 20, 2019
Priority date	Aug 22, 2018
Publication date	Mar 1, 2022
Grant date	Mar 1, 2022

Abstract

A teaching system for a robot is provided, including a motion bar for controlling the robot and a robot system utilizing the teaching system. In one embodiment, the teaching system is provided including a first controller configured to provide motion-related control functions for controlling motion of the robot. The teaching system may also include a second controller configured to provide control functions other than the motion-related control functions for programming one or more actions of the robot.

First claim

What is claimed is:

1. A teaching system for a robot, comprising:
a first controller configured to provide motion-related control functions for controlling motion of the robot;
a second controller configured to provide control functions other than the motion-related control functions for programming one or more actions of the robot;
a rotary switch configured to switch the robot between different operation modes comprising a debugging mode and at least one of an idle mode, a running mode, a floating mode, and/or a user interface mode; and
a joystick configured to perform a corresponding function based on a current operation mode of the robot selected from the different operation modes, wherein, when the current operation mode of the robot is the debugging mode, the joystick is configured to provide direct manipulation of individual joints of the robot.

2. The teaching system of claim 1 , wherein the first controller comprises an elongated body and a plurality of functional buttons installed on the elongated body, the plurality of functional buttons comprising:
an emergency stop button configured to stop motion of the robot when pressed;
an enabling button configured to enable movement of the robot when pressed; and
a multifunction button configured (i) to control the robot to perform a programmed motion-related function and (ii) to be reprogrammable such that the programmed motion-related function may be changed.

3. The teaching system of claim 1 , wherein, when the current operation mode of the robot is the user interface mode, the joystick is configured to control the second controller as a remote controller.

4. The teaching system of claim 1 , further comprising a control box configured to receive user input from the first controller and the second controller and to generate control commands for controlling the robot based, at least in part, on the user input.

5. The teaching system of claim 4 , wherein the first controller is connected to the control box via a cable.

6. The teaching system of claim 4 , wherein the second controller is wirelessly connected to the control box.

7. The teaching system of claim 1 , wherein the second controller is a mobile phone and/or a tablet computer.

8. The teaching system of claim 1 , wherein the second controller further comprises a holding component for attaching the first controller to the second controller.

9. The teaching system of claim 1 , wherein the first controller is attached to an end effector of the robot by using one or both of a mechanical or magnetic interlock between the first controller and the end effector of the robot.

10. A motion bar for controlling a robot, comprising an elongated body and a plurality of functional buttons for performing motion-related functions installed on the elongated body, wherein the plurality of functional buttons comprise:
an emergency stop button configured to stop motion of the robot when pressed;
an enabling button configured to enable movement of the robot when pressed;
a multifunction button configured (i) to control the robot to perform a programmed motion-related function and (ii) to be reprogrammable such that the programmed motion-related function may be changed;
a rotary switch configured to switch the robot between different operation modes comprising a debugging mode and at least one of an idle mode, a running mode, a floating mode, and/or a user interface mode; and
a joystick configured to perform a corresponding function based on a current operation mode of the robot selected from the different operation modes, wherein, when the current operation mode of the robot is the debugging mode, the joystick is configured to provide direct manipulation of individual joints of the robot.

11. The motion bar of claim 10 , wherein, when the current operation mode of the robot is the user interface mode, the joystick is configured to control a controller as a remote controller.

12. The motion bar of claim 10 , wherein the motion bar is communicatively coupled with the robot via a cable.

13. A robot system, comprising:
at least one sub-system comprising:
a robot;
a control box configured to generate control commands for the robot; and
a motion bar configured to provide motion-related control functions for controlling motion of the robot, wherein the motion bar is communicatively coupled to the control box via a cable the motion bar comprising:
a rotary switch configured to switch the robot between different operation modes comprising a debugging mode and at least one of an idle mode, a running mode, a floating mode, and/or a user interface mode; and
a joystick configured to perform a corresponding function based on a current operation mode of the robot selected from the different operation modes, wherein, when the current operation mode of the robot is the debugging mode, the joystick is configured to provide direct manipulation of individual joints of the robot; and

a wireless user interface capable of communicating with the at least one sub-system on an ad-hoc manner, and configured to provide control functions other than the motion-related control functions.

14. The robot system of claim 13 , wherein the motion bar further comprises an elongated body and a plurality of functional buttons installed on the elongated body, the plurality of functional buttons comprising:
an emergency stop button configured to stop motion of the robot when pressed;
an enabling button configured to enable movement of the robot when pressed; and
a multifunction button configured (i) to control the robot to perform a programmed motion-related function and (ii) to be reprogrammable such that the programmed motion-related function may be changed.

15. The robot system of claim 13 , wherein when the current operation mode of the robot is the user interface mode, the joystick is configured to control a controller as a remote controller.

16. The robot system of claim 13 , wherein the wireless user interface is a mobile phone or a tablet computer.

Assignees

• Flexiv Ltd

Inventors

• Wang Shiquan
• Li Xuesen

Classifications

• G05B19/425

  Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector · CPC title

• G05B2219/39439

  Joystick, handle, lever controls manipulator directly, manually by operator · CPC title

• B25J9/163

  learning, adaptive, model based, rule based expert control · CPC title

• B25J9/0081 Primary

  with leader teach-in means · CPC title

• B25J13/02

  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 title