Device and method for programming a handling apparatus

Patent metadata

Field	Value
Publication number	US-9643315-B2
Application number	US-201113995061-A
Country	US
Kind code	B2
Filing date	Dec 9, 2011
Priority date	Dec 16, 2010
Publication date	May 9, 2017
Grant date	May 9, 2017

Abstract

A device for programming an handling apparatus, an industrial robot in particular, having an operating unit situated on an arm of the handling apparatus, which is able to be moved by an operator for programming motion sequences together with the arm to different positions, especially processing positions, having input devices on the operating unit for detecting at least positions of the arm, preferably in the form of input keys, the operating unit being connected to a control device for the handling apparatus; and data transmitted via input devices of the operating unit to the control device being displayed to the operator via a monitoring unit. The input devices are additionally used for controlling and operating display menus and input menus stored in the control device, the display menus and the input menus being displayed on the monitoring unit.

First claim

What is claimed is:

1. A device for programming a handling apparatus, comprising:
an operating unit situated on an arm of the handling apparatus, wherein the operating unit is movable by an operator for programming motion sequences together with the arm to different positions, and wherein a plurality of input devices are provided on the operating unit;
a control device, wherein the operating unit is connected to the control device;
a monitoring unit, wherein the monitoring unit displays display menus and input menus stored in the control device and data transmitted by at least one of the input devices to the control device; and
wherein at least one of the plurality of input devices is configured to perform the following:
detect positions of the arm;
control and operate the display menus and the input menus; and
at least one of select input fields within a display mask, confirm or break off dialogs, confirm selection options, operate a screen keyboard, and scroll selection lists or display masks up and down;

wherein the handling apparatus has a grasping arrangement situated on the arm below the operating unit,
wherein the operating unit is fastened exchangeably on the end of the arm above the grasping arrangement by a carrier device, which includes an interface to provide mechanical connection of the operating unit to the arm and to the control device,
wherein the operating unit is manually movable by the operator, so that the operator is able to move the operating unit together with the arm so that a desired path of motion is set, and
wherein the operating unit includes at least two groups of operating keys, which enable the operator to grasp the arm from different positions or situations, so that, independently of a position of the operator, in each case one of the groups of operating keys is operable by the operator without the operator having to take a hand away from the operating unit or having to reposition the hand.

2. The device as recited in claim 1 , wherein the handling apparatus is a robot.

3. The device as recited in claim 1 , wherein at least one of the plurality of input devices is situated close to the arm.

4. The device as recited in claim 1 , wherein at least one of: i) the monitoring unit is fastened on the arm and on the operating unit; and ii) the monitoring unit is situated in a swivelable manner on a base of the handling apparatus.

5. The device as recited in claim 4 , wherein there are redundant input devices on the operating unit.

6. The device as recited in claim 1 , wherein the monitoring unit is situated in a swivelable manner on a base of the handling apparatus, and wherein the monitoring unit is equipped with an adjusting device which tracks or adjusts the monitoring unit to the position of the arm.

7. The device as recited in claim 1 , wherein at least one of the plurality of input devices is configured to select the input fields within the display mask.

8. The device as recited in claim 1 , wherein at least one of the plurality of input devices is configured to confirm or break off the dialogs.

9. The device as recited in claim 1 , wherein at least one of the plurality of input devices is configured to confirm the selection options.

10. The device as recited in claim 1 , wherein at least one of the plurality of input devices is configured to operate the screen keyboard.

11. The device as recited in claim 1 , wherein at least one of the plurality of input devices is configured to scroll the selection lists or the display masks up and down.

12. The device as recited in claim 1 , wherein the operating unit is fastened exchangeably on the end of the arm above the grasping arrangement by the carrier device, which includes the interface to provide mechanical connection and electrical connection of the operating unit to the arm and to the control device.

13. A method for programming a handling apparatus, the method comprising:
operating display menus and input menus stored in a control device using an operating unit, the display menus and the input menus being displayed on a monitoring unit;
wherein the operating unit is situated on an arm of the handling apparatus for programming motion sequences of the arm, the operating unit having at least one input device that is manually operable by an operator, and the monitoring unit displays to the operator data transmitted to the control device; and
wherein at least one of the input devices is configured to perform the following:
select input fields within a display mask,
confirm or break off dialogs,
confirm selection options,
operate a screen keyboard, and

scroll selection lists or display masks up and down;

wherein the handling apparatus has a grasping arrangement situated on the arm below the operating unit,
wherein the operating unit is fastened exchangeably on the end of the arm above the grasping arrangement by a carrier device, which includes an interface to provide mechanical connection of the operating unit to the arm and to the control device,
wherein the operating unit is manually movable by the operator, so that the operator is able to move the operating unit together with the arm so that a desired path of motion is set, and
wherein the operating unit includes at least two groups of operating keys, which enable the operator to grasp the arm from different positions or situations, so that, independently of a position of the operator, in each case one of the groups of operating keys is operable by the operator without the operator having to take a hand away from the operating unit or having to reposition the hand.

14. The method as recited in claim 13 , wherein the handling apparatus is an industrial robot.

15. The method as recited in claim 13 , wherein at least one of the plurality of input devices is situated close to the arm.

16. The method as recited in claim 15 , wherein there are redundant input devices on the operating unit.

17. The method as recited in claim 13 , wherein at least one of: i) the monitoring unit is fastened on the arm and on the operating unit; and ii) the monitoring unit is situated in a swivelable manner on a base of the handling apparatus.

18. The method as recited in claim 13 , wherein the monitoring unit is situated in a swivelable manner on a base of the handling apparatus, and wherein the monitoring unit is equipped with an adjusting device which tracks or adjusts the monitoring unit to the position of the arm.

19. The method as recited in claim 13 , wherein the operating unit is fastened exchangeably on the end of the arm above the grasping arrangement by the carrier device, which includes the interface to provide mechanical connection and electrical connection of the operating unit to the arm and to the control device.

20. A handling apparatus, comprising:
an arm;
an operating unit situated on the arm, the operating unit and the arm are movable by an operator for programming motion sequences;
a plurality of input devices on the operating unit;
a control device connected to the operating unit; and
a monitoring unit;
wherein:
the monitoring unit displays:
data transmitted via at least one of the plurality of input devices to the control device; and
display menus and input menus stored in the control device;

at least one of the plurality of input devices is configured for controlling and operating the display menus and the input menus; and

at least one of the input devices is configured to perform the following:
select input fields within a display mask,
confirm

Assignees

• Roethling Frank
• Dose Sven
• Rueb Andreas
• Bosch Gmbh Robert

Inventors

• Roethling Frank
• Dose Sven
• Rueb Andreas

Classifications

• G05B19/423 Primary

  Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path · CPC title

• G05B2219/36433

  Position assisted teaching · CPC title

• B25J9/161 Primary

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title