EP2699971A1 - Unité de terminal portative, système de robot industriel et procédé de contrôle d'un robot industriel - Google Patents

Unité de terminal portative, système de robot industriel et procédé de contrôle d'un robot industriel

Info

Publication number
EP2699971A1
EP2699971A1 EP11715546.5A EP11715546A EP2699971A1 EP 2699971 A1 EP2699971 A1 EP 2699971A1 EP 11715546 A EP11715546 A EP 11715546A EP 2699971 A1 EP2699971 A1 EP 2699971A1
Authority
EP
European Patent Office
Prior art keywords
pressure force
terminal unit
hand
threshold value
held terminal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP11715546.5A
Other languages
German (de)
English (en)
Inventor
Ralph Sjoberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Schweiz AG
Original Assignee
ABB Technology AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Technology AG filed Critical ABB Technology AG
Publication of EP2699971A1 publication Critical patent/EP2699971A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50198—Emergency stop

Definitions

  • the present invention relates to a hand-held terminal unit configured to communicate with a robot control unit in order to control an industrial robot.
  • the present invention also relates to an industrial robot system, comprising an industrial robot including a manipulator, a control system and a hand-held terminal unit configured to communicate with the robot control system. Further, the invention relates to a method for controlling an industrial robot, and a computer-readable medium and a computer program product configured to perform the method.
  • An industrial robot includes a manipulator, a control unit for automatically operating the manipulator, and a hand-held device for control of the robot, and communicating with the control unit.
  • the hand-held device may also be called teach pendant unit (TPU), portable operating unit, portable controller, etc.
  • TPU teach pendant unit
  • a hand-held terminal unit can, for example, be used by an operator to manually move the robot, to program the robot, monitoring a robot program, change certain variables in the program, starting, stopping and editing the robot program, input process parameters, etc.
  • a handheld terminal unit will usually comprise operator control means such as a joystick device and/or push buttons, a visual display screen which may also be a touch screen, and safety function arrangements such as an enabling device and an emergency stop device.
  • WO 2007/039785 is disclosed an example of a hand-held terminal unit including an enabling device called a live handle switch comprising a safety switch having three positions.
  • a live handle switch comprising a safety switch having three positions.
  • the operator controls if the robot is in an enabled mode in which the robot is controllable by means of the hand-held terminal unit, or in a disabled mode in which the robot is not controllable from the hand-held terminal unit.
  • there are two live handle switches each one located to be operated by one hand of the operator, and arranged such that the hand-held terminal unit is operable when either one of the live handle switches is activated by the operator.
  • the switch is described to be of the type disclosed in US 5,444, 203, being a
  • mechanical safety switch comprising a contact device with a pressure rod displaceable against the action of a return spring, from a first end position, via an operating position, to a second end position, and wherein a safety circuit is closed only in the operating position. During the return movement from the second end position to the first end position, the safety circuit remains open.
  • the emergency stop device on a hand-held terminal unit is normally a push button device of a traditional type.
  • an emergency circuit will be opened and all operations and movements of the robot will stop.
  • the emergency stop can be reactivated again by turning the button and thus releasing the emergency stop.
  • An object of the present invention is to provide an improved hand-held terminal unit for controlling an industrial robot.
  • a hand-held terminal unit configured to communicate with a robot control unit for controlling a robot, and including a safety function arrangement configured to control the opening and closing of a safety control circuit
  • the safety function arrangement comprises at least one pressure force application area located externally on the hand-held terminal unit and separated from any display screen of the hand-held terminal unit, that the pressure force application area comprises at least one pressure force sensor means arranged to control the closing and opening of the safety control circuit in response to an external pressure force applied to the pressure force application area
  • the safety function arrangement further comprises at least one processor or computer communicating with the pressure force sensor means and configured to close or open the safety control circuit when the applied pressure force on the pressure force sensor means exceeds a first threshold value.
  • the pressure force sensor is configured to provide a signal to a processor or computer in response to the external force applied to the pressure force application area.
  • a hand-held terminal unit according to the invention may very well be designed small enough to be held in one hand only, thus leaving the other hand free to interact with a display screen of the hand-held terminal unit, for example.
  • Such a small hand-held terminal unit is an advantage from an ergonomic point of view.
  • the hand-held terminal unit can be made with a smooth external surface, without any projecting parts, which will make it safer to use. Also the use of pressure force sensors will allow for more freedom when designing those parts of the safety function arrangement that are operated by the user, and the form factor of the safety function arrangement can be tailored to be easy to grasp and operate.
  • the use of pressure force sensors also makes it possible to provide for control and adaptation of the required pressure force in accordance with the operator's physical ability or preferences, and consequently is defined, according to another feature, that the first threshold value may be adjustable. For example, if the operator has less strong hands, the threshold value can be set at a lower pressure force level than if the operator has strong hands.
  • each pressure force sensor means may comprise two pressure force sensors.
  • each pressure force sensor means may comprise two separate pressure force sensors and it will be sufficient that only one registers a pressure force that exceeds the threshold value in order for the safety control circuit to be closed or, alternatively, opened.
  • the pressure force sensor means may be located on part or parts of, or around the entire edge side of the hand-held terminal unit. Also other locations are of course possible, and a high flexibility when choosing where to locate the pressure force sensor means is a further advantage of the invention. There may also be provided a feedback function related to the pressure force sensors and there activation of the safety function arrangement, such as a tactile feedback, audible feedback or visual feedback shown on a display screen of the hand-held terminal unit.
  • the pressure force sensor means may for example be in the shape of thin strips having a protective cover forming the pressure force application area.
  • the hand-held terminal unit can have more than one pressure force application area comprising pressure force sensor means, for example related to an enabling device, in which case the normal set-up would be that it is sufficient to apply pressure force on only one of these areas in order to activate the enabling device.
  • the hand-held terminal unit may have more than one pressure force application area comprising pressure force sensor means, where these different pressure force application areas with their pressure force sensors may be allocated different functions. For example one may have the functions of an enabling device and the other may have the functions of an emergency stop.
  • the safety function arrangement of the hand-held terminal unit may comprise an enabling device configured to control the opening and closing of an enabling circuit forming a safety control circuit, and the enabling device is configured to close the enabling circuit when a pressure force exerted on the pressure force sensor means exceeds a first threshold value, specific for the enabling device, whereby the robot is controllable by means of the hand-held terminal unit only when the enabling circuit is closed.
  • a pressure force sensor means in an enabling device makes it possible not only to set the first threshold value at a desired, chosen level. It also makes it possible to configure the enabling device to react to different pressure force levels that can be chosen and preset.
  • the enabling device when the first threshold value of the pressure force has been exceeded and the enabling circuit is closed, the enabling device may be configured to keep the enabling circuit closed as long as the pressure force exerted on the pressure force sensor means stays above a second threshold value, which is below the first threshold value but above zero.
  • a second threshold value which is below the first threshold value but above zero.
  • the enabling device of the hand-held terminal unit may be configured to open the enabling circuit when the pressure force exerted on the pressure force sensor means exceeds a third threshold value which is higher than the first threshold value, whereby the robot is not controllable by means of the hand-held terminal unit.
  • This feature is provided as an extra safety feature.
  • the operator exerts a pressure force that keeps the enabling circuit closed and the robot is operating, and the operator suddenly experiences an emergency situation, he can either release his pressure, i.e. reduce the pressure force to below the second minimum pressure force threshold value, and the enabling device will then open the enabling circuit, or he can increase his pressure force to the third threshold value, which is sometimes an instinctive reaction in a panic situation. In both cases the enabling circuit will be opened/broken.
  • the enabling device when the enabling circuit has been opened due to the pressure force exceeding the third threshold value, the enabling device may be configured to keep the enabling circuit open even if the pressure force diminishes down to zero. This is another safety feature, since normally it is not desirable that the enabling circuit is closed again in a "return path" from the third threshold pressure force value down to zero, when the third threshold value is considered to reflect some kind of emergency situation.
  • either one of the first threshold value and the second threshold value related to the enabling device may be adjustable.
  • the safety function arrangement of the hand- held terminal unit may comprise an emergency stop device configured to open an emergency stop circuit forming the safety control circuit, and the emergency stop device is arranged to open the emergency stop circuit when a pressure force exerted on the pressure force sensor means exceeds a first threshold value specific for the emergency stop device.
  • prior art emergency stops are physical/mechanical components with a push button contact projecting from the hand-held terminal unit, they make the handheld terminal unit bulky and there is also a risk that the button gets caught up by something. Therefore, in addition to the previously mentioned general advantages, a more secure function of the emergency stop is also achieved by the present invention, where the prior art type of physical/mechanical components may be replaced by the inventive combination of hardware and software.
  • the hand-held terminal unit may comprise a reset device for the emergency stop device, and the emergency stop circuit is configured to remain open once it has been opened, until the reset device has been activated.
  • the hand-held terminal unit may comprise a display and touch screen, and the reset device may be controlled from the display and touch screen by means of a touch control.
  • a touch control For example there may be a graphic symbol or button on a touch screen, but it would also be conceivable to have a separate reset button of some suitable type.
  • the hand-held terminal unit may comprise both an enabling device according to any one of the claims defining such a device, and an emergency stop device according to any one of the claims defining such a device.
  • an industrial robot system comprising an industrial robot including a manipulator, a robot control unit and a handheld terminal unit configured to communicate with the robot control unit, characterised in that the hand-held terminal unit is configured in accordance with any one of the claims relating to a hand-held terminal unit.
  • Another object of the present invention is to provide an improved method for controlling an industrial robot, as well as means for implementing the method. This object is achieved by the method defined in claim 14.
  • the method may comprise, when the safety function arrangement comprises an enabling device configured to control the opening and closing of an enabling circuit forming the safety control circuit, closing the enabling circuit when a pressure force exerted on the pressure force sensor means exceeds the first threshold value specific for the enabling device.
  • the safety function arrangement comprises an enabling device configured to control the opening and closing of an enabling circuit forming the safety control circuit, closing the enabling circuit when a pressure force exerted on the pressure force sensor means exceeds the first threshold value specific for the enabling device.
  • the method may comprise, when the first threshold value of the pressure force has been exceeded and the enabling circuit is closed, keeping the enabling circuit closed as long as the pressure force exerted on the pressure force sensor means stays above a second threshold value, which is below the first threshold value but above zero.
  • the method may comprise opening the enabling circuit when the pressure force exerted on the pressure force sensor means exceeds a third threshold value which is higher than the first threshold value.
  • the method may also comprise keeping the enabling circuit open even if the pressure force diminishes down to zero.
  • the method may comprise, when the safety function arrangement is an emergency stop device configured to open an emergency stop circuit forming the safety control circuit, opening the emergency stop circuit when a pressure force exerted on the pressure force sensor means exceeds a first threshold value specific for the emergency stop device.
  • the method may further comprise keeping the emergency stop circuit open once it has been opened, until a reset device is activated.
  • method may comprise activating an emergency stop reset device controlled from a display and touch screen, by means of a touch control.
  • the method may also comprise adjusting any one threshold value, used in the method, according to use requirements.
  • a computer-readable medium having a computer-readable code executable by at least one processor or computer to perform the method defined in any one of the method claims
  • a computer program product comprising a computer-readable code executable by at least one processor or computer to perform the method of any one of the method claims.
  • Fig. 1 shows schematically an industrial robot system
  • Fig. 2 shows schematically a hand-held terminal unit according to the present invention
  • Fig. 3 shows schematically a variant of a hand-held terminal unit according to the present invention
  • Fig. 4 is a side view in cross section along A-A of the hand-held terminal unit illustrated in Fig. 2,
  • Fig. 5 is a block diagram showing the hand-held terminal unit according to the present invention.
  • Fig. 6 is a graphical illustration of the functions related to different pressure forces, according to one exemplifying embodiment
  • Fig. 7 is a schematic flow chart illustrating one embodiment of the method according to the present invention.
  • Fig. 8 is a schematic flow chart illustrating another embodiment of the method according to the present invention.
  • Fig. 9 is a schematic flow chart illustrating yet another embodiment of the method according to the present invention.
  • Fig. 1 shows schematically an industrial robot system comprising an industrial robot including a manipulator 1 , a robot control system comprising a robot control unit 2 communicating with the manipulator, and a hand-held terminal unit 3 configured to communicate with the robot control unit, either by some kind of suitable wireless communicating system of any known type, such as a data link, or by means of communication cabling.
  • the control unit 2 can communicate with the manipulator 1 by means of any known communication system.
  • a hand-held terminal unit 3 is illustrated in Fig. 2.
  • the hand-held terminal unit comprises a safety function arrangement 5, 15, configured to control the opening or closing of a safety control circuit (not shown).
  • the safety function arrangement 5, 15 comprises at least one pressure force application area 7, 17, having pressure force sensor means 1 1 , 21 .
  • the safety function arrangement 5, 15 further comprises at least one processor or computer 10 communicating with the pressure force sensor means 1 1 , 21 and configured to close or open the safety control circuit based on the level of pressure exerted on the pressure force sensor means, see Fig. 5.
  • the pressure force sensor means 1 1 , 21 are configured to provide an output signal to the processor or computer 10 in response to the pressure force applied to the pressure force application area.
  • the signal is processed and a measurement of the applied pressure force is obtained that is compared to previously stored pressure force threshold values.
  • the processor/computer 10 will then control functions related to the opening or closing of the safety control circuit, depending on if the applied pressure force is found to exceed or not any stored threshold value.
  • the applied pressure force will be measured continuously and compared to threshold values in order to perform the required safety function.
  • the processor/computer 10 communicates with the robot, i.e. the manipulator 1 and the control unit 2.
  • the hand-held terminal unit may also comprise a display screen 9, which may also be a touch screen for interaction with the hand-held terminal unit operator.
  • the hand-held terminal unit may also include other hardware and software for performing the different operations normally done by such a hand-held terminal unit and it may include devices that are often associated with these types of hand-held terminal units, such as joystick, buttons with different functions, etc., if required.
  • the safety function arrangement is an enabling device 5.
  • the enabling device is configured to control the opening and closing of an enabling circuit, forming a safety control circuit (not shown).
  • a safety control circuit not shown.
  • the enabling device 5 comprises a pressure force application area 7 located externally on the hand-held terminal unit 3. In the illustrated embodiment this area is located along one side of the hand-held terminal unit in order to be easy to apply pressure force on when the operator's hand grasps the hand-held terminal unit.
  • the hand-held terminal unit can be rather small, similar or only slightly bigger than a mobile phone or similar electronic device.
  • the pressure force application area 7 comprises at least one pressure force sensor means 1 1 , which may comprise two pressure force sensors as illustrated in Fig. 4.
  • the pressure force sensor means 1 1 comprises two pressure force sensors, of which it is sufficient to only influence one in order for the enabling device to close the enabling circuit.
  • the pressure force application area may be configured as a thin membrane or similar, e.g. of silicone or similar material, designed to cover and protect the pressure force sensor means, while at the same time having the capability of transferring any applied pressure force directly to the pressure force sensor means.
  • the pressure force application area forms part of the external surface of the hand-held terminal unit without forming any pronounced joint or transition between this area and the surrounding surface of the hand-held terminal unit.
  • it should be clearly marked and distinguishable from other parts of the hand-held terminal unit. For example, it may have colour marking or a differing surface structure.
  • the safety function arrangement is an emergency stop device 15, as also illustrated in Fig. 2.
  • the emergency stop device is configured to open an emergency stop circuit forming a safety control circuit (not shown), and when the emergency stop device is activated all movements and operations of the robot will be stopped.
  • the emergency stop device comprises a pressure force application area 17, located externally on the hand-held terminal unit, for example on a corner of the handheld terminal unit in order to be easily and rapidly accessible by the operator in case of an emergency situation.
  • the pressure force application area 17 comprises a pressure force sensor means 21 , which may comprise two pressure force sensors 21 , in analogy with the described enabling device.
  • the pressure force application area 17 of the emergency stop device may otherwise also be designed in analogy with the
  • the pressure force application area 17 for the emergency stop is clearly marked, for example by colour marking.
  • the pressure force sensors that are used in the two embodiments may be in the shape of strips but also other available forms of pressure force sensors may be used.
  • the processor/computer 10 illustrated in Fig. 5 may be one common
  • processor/computer for the enabling device and the emergency stop unit may also include control functions in relation to the display screen 9, or there may be separate processors/computers.
  • Fig. 3 is shown a variant of the hand-held terminal unit 3, where the enabling device 5 comprises two pressure force application areas 7. It is of course possible to design the pressure force application areas for the enabling device and the emergency stop device in any suitable way when it comes to form, shape, number etc.
  • a feedback function related to the pressure force sensors 1 1 , 21 and the activation of the safety function arrangement such as a tactile feedback, audible feedback or visual feedback, e.g. shown on a display screen of the hand-held terminal unit.
  • the safety function arrangement 5, 15 is configured in such a way that the closing/opening of the safety control circuit is made only when the applied pressure force on the pressure force sensor 1 1 , 21 means exceeds a first threshold value. If the pressure force is below the first threshold value, the safety control circuit is not affected.
  • the enabling device corresponds to an open enabling circuit, and there is no pressure applied on the pressure force sensor 1 1 .
  • the enabling device is "off.
  • the pressure force exerted on the pressure force sensor 1 1 exceeds a first threshold value, at point A, specific for the enabling device, the enabling device is "turned on", i.e. the enabling circuit is closed.
  • the robot is now operable and movable by means of the hand-held terminal unit 3.
  • the pressure force exerted on the pressure force sensor 1 1 is continuously measured.
  • the enabling circuit continues to be closed, and the robot continues to be controllable and movable, even if the exerted pressure force is reduced, as long as the exerted pressure force exceeds a second, minimum threshold value, which is lower than the first threshold value, but above zero.
  • a second, minimum threshold value which is lower than the first threshold value, but above zero.
  • the enabling circuit will be opened as soon as the pressure force falls below the second minimum threshold value, as also illustrated in Fig. 6 at point C, or below the first threshold value when there is no minimum value.
  • the enabling circuit may also be configured to continue to be closed as long as the exerted pressure force on the pressure force sensor means 1 1 does not exceed a third threshold value, which is higher than the first threshold value. If the exerted pressure force exceeds the third threshold value, as illustrated at point B in Fig. 6, then the enabling circuit will be opened, and the operations and movements of the robot will be stopped. The enabling device will be turned off again. After this has occurred, the enabling device 5 is configured not to close the enabling circuit again, i.e. to keep it open, even when the pressure force drops back into the pressure force interval where the circuit would normally be closed, before it reaches zero. Once the pressure force has reached zero, the enabling device 5 may be configured either to resume its regular enabling functions, or it may be configured to stay in the circuit open condition until a reset function has been activated.
  • an emergency stop circuit forming the safety control circuit is closed when the emergency stop is in its default position.
  • the emergency stop device is activated when a pressure force exerted on the pressure force sensor means 21 exceeds a first threshold value, which is specific for the emergency stop device, and the emergency stop circuit is opened.
  • This first threshold value specific for the emergency stop device is independent of the previously mentioned first threshold value related to the enabling device, and would normally differ from that value.
  • the next step comprises activating the emergency stop reset device 20.
  • This reset device may be configured as shown in Fig. 3, but also other types of reset devices may be combined with an emergency stop 15 according to the present invention, such as a button on the hand-held terminal unit.
  • the reset device illustrated in Fig. 3 comprises a graphical symbol 20 shown on a display screen 9 of the hand-held terminal unit.
  • the graphical symbol may also be regular button symbol.
  • the display screen is also a touch screen, and the reset device can be controlled by performing some kind of action on the screen by touch control. For example, a turning movement by touching on the symbol 20 may perform the reset function.
  • the method may also comprise a step of adjusting any one of the mentioned threshold values, mainly depending on the physical abilities and preferences of the operator, as has been previously discussed.
  • a computer-readable medium having a computer-readable code executable by at least one processor or computer to perform the method
  • a computer program product comprising a computer-readable code executable by at least one processor or computer to perform the method, in the processor/computer 10 of the terminal 3 or in the control unit 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une unité de terminal portative (3) configurée pour communiquer avec une unité de contrôle de robot (2) destinée au contrôle d'un robot (1), et comprenant un agencement à fonction de sécurité (5; 15) configuré pour contrôler l'ouverture et la fermeture d'un circuit de contrôle de sécurité. L'agencement à fonction de sécurité comprend au moins une zone d'application de force de pression (7; 17) située de façon externe sur l'unité de terminal portative et séparée d'un des écrans d'affichages de l'unité de terminal portative, et la zone d'application de force de pression comprend au moins un moyen de détection de force de pression (11; 21) conçu pour contrôler la fermeture et l'ouverture du circuit de contrôle de sécurité en réponse à une force de pression externe appliquée sur la zone d'application de force de pression (7; 17). L'agencement à fonction de sécurité comprend en outre au moins un processeur ou un ordinateur (10) communiquant avec le moyen de détection de force de pression (11; 21) et configuré pour fermer ou ouvrir le circuit de contrôle de sécurité lorsque la force de pression appliquée sur le moyen de détection de force de pression dépasse une première valeur de seuil. L'agencement à fonction de sécurité peut être un dispositif d'activation (5) ou un dispositif d'arrêt d'urgence (15), par exemple. L'invention concerne également un système de robot industriel, un procédé correspondant et un moyen pour mettre en œuvre le procédé.
EP11715546.5A 2011-04-21 2011-04-21 Unité de terminal portative, système de robot industriel et procédé de contrôle d'un robot industriel Ceased EP2699971A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2011/056395 WO2012143053A1 (fr) 2011-04-21 2011-04-21 Unité de terminal portative, système de robot industriel et procédé de contrôle d'un robot industriel

Publications (1)

Publication Number Publication Date
EP2699971A1 true EP2699971A1 (fr) 2014-02-26

Family

ID=43978104

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11715546.5A Ceased EP2699971A1 (fr) 2011-04-21 2011-04-21 Unité de terminal portative, système de robot industriel et procédé de contrôle d'un robot industriel

Country Status (2)

Country Link
EP (1) EP2699971A1 (fr)
WO (1) WO2012143053A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023017172A1 (fr) 2021-08-13 2023-02-16 Festool Gmbh Appareil à commande électrique et procédé

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105164594B (zh) * 2013-05-08 2017-03-15 Abb技术有限公司 用于提供触觉反馈的呈现的方法，工业机器人系统和便携式操作人员控制设备
DE102016211243B4 (de) * 2016-06-23 2018-01-18 Kuka Roboter Gmbh Roboter-Bedienhandgerätverbund mit einem Sensor
JP6918847B2 (ja) 2019-01-11 2021-08-11 ファナック株式会社 機械の教示に用いる機械教示端末、教示システム、プログラム及び安全確認方法
DE102019114973A1 (de) * 2019-06-04 2020-12-10 Keba Ag Sicherheitsschaltelement für Maschinen oder Roboter

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050141681A1 (en) * 2002-04-12 2005-06-30 Dieter Graiger Mobile arithmetic unit and extension device for industrial machine control

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE470428B (sv) 1991-11-01 1994-02-21 Asea Brown Boveri Säkerhetsbrytare för industrimaskin
JPH10291189A (ja) * 1997-04-21 1998-11-04 Fanuc Ltd ロボット非常停止用スイッチ機構並びに該機構を設けた教示操作盤
JPH11249725A (ja) * 1998-02-26 1999-09-17 Fanuc Ltd ロボット制御装置
DE20208683U1 (de) * 2002-06-05 2002-08-14 Bernstein Ag Handbetätigbares, elektrisches Bedienungsteil
WO2007039785A1 (fr) 2005-10-06 2007-04-12 Abb As Système de commande et boîtier de commande pour un robot industriel

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050141681A1 (en) * 2002-04-12 2005-06-30 Dieter Graiger Mobile arithmetic unit and extension device for industrial machine control

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2012143053A1 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023017172A1 (fr) 2021-08-13 2023-02-16 Festool Gmbh Appareil à commande électrique et procédé
DE102021208904A1 (de) 2021-08-13 2023-02-16 Festool Gmbh Elektrisch betreibbares Gerät und Verfahren

Also Published As

Publication number Publication date
WO2012143053A1 (fr) 2012-10-26

Similar Documents

Publication Publication Date Title
WO2012143053A1 (fr) Unité de terminal portative, système de robot industriel et procédé de contrôle d'un robot industriel
CN108367434B (zh) 机器人系统和控制机器人系统的方法
KR101815454B1 (ko) 산업용 로봇을 조작하기 위한 디바이스 및 방법
US10028714B2 (en) Control device, medical apparatus and method to control movements of the medical apparatus
AU2003246688B2 (en) Operating device for triggering an apparatus
US20080250889A1 (en) Vehicle
WO2002102616A3 (fr) Système de tableau de bord haptique reconfigurable
JP6058378B2 (ja) ロボット制御システム
WO2014048444A1 (fr) Système robotisé pour collaboration homme-robot
US11227484B2 (en) Control unit for a remote control comprising an activation sensor with a variable effective sensor range
US20200299110A1 (en) Wireless remote control for the wireless remote control of a machine, in particular a crane
WO2016006423A1 (fr) Appareil mécanique, procédé de sa commande, appareil de mise en oeuvre à distance, et appareil de mise en oeuvre principal
US9841745B2 (en) Machine controller and method for controlling a machine
US20180113608A1 (en) Lighting Control Console Having A Rotary Control
JP2005518288A (ja) プログラミングユニットを備えた産業用ロボット装置
US20210038335A1 (en) Robot Assisted Surgical System with Clutch Assistance
EP3271119A1 (fr) Autorisation de fonctionnement d'une machine
US20190270206A1 (en) Control device and control method for industrial machines with controlled motion drives
CN113015603B (zh) 具有人机界面的机器人臂
JPH09297609A (ja) グラフィックパネル式操作装置
EP1210287B1 (fr) Dispositif de manoeuvre pour vehicule de chantier
US20240184262A1 (en) Control device having a monitoring unit
JP3536089B2 (ja) 遠隔操作装置
CN218075213U (zh) 手术机器人多功能控制装置
JP2006167884A (ja) ロボット教示装置およびその制御方法

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20131121

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20160509

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ABB SCHWEIZ AG

REG Reference to a national code

Ref country code: DE

Ref legal event code: R003

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN REFUSED

18R Application refused

Effective date: 20181229