Handheld Robot Operation Unit And Corresponding Method

Patent metadata

Field	Value
Publication number	US-2016297076-A1
Application number	US-201615097602-A
Country	US
Kind code	A1
Filing date	Apr 13, 2016
Priority date	Apr 13, 2015
Publication date	Oct 13, 2016
Grant date	—

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 an edge section of the separate device opposite the second edge section remains free.

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 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.

6 . The handheld robot operation unit of claim 5 , wherein the first groove-like seat and the second groove-like seat of the first and second holding arms an comprise the at least one holding bracket.

7 . The handheld robot operation unit of claim 5 , 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.

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

9 . The handheld robot operation unit of claim 5 , 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.

10 . The handheld robot operation unit of claim 9 , wherein the first groove-like seat and the second groove-like seat of the first and second holding arms comprise the abutment surface.

11 . The handheld robot operation unit of claim 9 , wherein the compression plate is supported in a linearly adjustable fashion relative to the abutment surface.

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

13 . The handheld robot operation unit of claim 11 , wherein the adjustable compression plate is adjustably supported relative to the abutment surface and the handle-like grip section.

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

15 . The handheld robot operation unit of claim 9 , wherein the compression plate is pivotally supported relative to the abutment surface.

16 . 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.

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

18 . The handheld robot operation unit of claim 16 , wherein the clamping profile comprises a hollow-chamber profile.

19 . The handheld robot operation unit of claim 16 , wherein the clamping profile is expandable by a fluid to generate a clamping force.

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

21 . 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.

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

23 . 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.

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

25 . 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.

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

27 . A method of using a handheld robot operation unit, the handheld robot operation unit including a basic safety control device and a holder configured to manual connect the mobile robot control device to a separate device that electronically communicates with the basic safety control device, the method comprising:
clamping the separate device to the holder of the handheld robot operation unit at only a single corner portion of the separate device.

28 . The method of claim 27 , wherein:
the handheld robot operati

Assignees

• Kuka Roboter Gmbh

Inventors

• Riedel Martin

Classifications

• B25J13/06 Primary

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

• B25J9/1689

  Teleoperation · CPC title

• B25J13/025 Primary

  comprising haptic means · CPC title

• B25J13/065

  comprising joy-sticks · 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