WO2019186552A1

WO2019186552A1 - Teach pendant as an add-on

Info

Publication number: WO2019186552A1
Application number: PCT/IL2019/050349
Authority: WO
Inventors: Eran Katzir; Mirko BORICH; Eran KORKIDI; Dan VAN GELDER
Original assignee: Servotronix Automation Solutions Ltd.
Priority date: 2018-03-26
Filing date: 2019-03-26
Publication date: 2019-10-03
Also published as: IL277596A; WO2019186551A1; CN112105486B; CN112105486A

Abstract

A kit for augmenting a tablet to act as a teach pendant, the kit including a mechanical device for electrically communicating with a tablet and a robotic machine, the mechanical device including an E-stop activator configured to cut power to a robotic machine in communication with the teach pendant, and an electric connector for connecting to a tablet. A method for augmenting a tablet to act as a teach pendant, the method including providing a mechanical device for electrically communicating with a tablet and a robotic machine, the mechanical device including an E-stop activator configured to cut power to a robotic machine in communication with the teach pendant, and an electric connector for connecting to a tablet, functionally connecting the mechanical device to the tablet, and functionally connecting the mechanical device and the tablet to communicate to a robotic machine. Related apparatus and methods are also described.

Description

TEACH PENDANT AS AN ADD-ON

RELATED APPLICATIONS

This application is a PCT application claiming the benefit of priority of U. S. Provisional Patent Application No. 62/647,861 filed March 26, 2018, and of U. S. Provisional Patent Application No. 62/647,871 filed March 26, 2018, the contents of which are incorporated herein by reference in their entirety.

This application is related to co-filed, co-pending and co-assigned PCT Patent Application entitled“AUGMENTED REALITY FOR INDUSTRIAL ROBOTICS” (Attorney Docket No. 76990), the disclosures of which are incorporated herein by reference.

FIELD AND BACKGROUND OF THE INVENTION

The present invention, in some embodiments thereof, relates to a wearable or hand-held controller, and more particularly, but not exclusively, to a robot controller and, even more particularly, but not exclusively, to a teach pendant.

Teach Pendants (TP)s are commonly used in the robots industry. A purpose of a TP is to jog a robot while storing selected positions which are later used by a user when programming a task that runs a robot application. Teach pendants are often developed by manufacturers of motion controllers that specialize in robotics. A TP device typically includes the following:

a screen;

6 pairs of jog buttons;

a work mode selector switch;

an enable switch typically referred to as a Dead-Man Switch;

a safety motion button, typically referred to as an E-Stop button; and

a custom designed box to encapsulate all the hardware.

The disclosures of all references mentioned above and throughout the present specification, as well as the disclosures of all references mentioned in those references, are hereby incorporated herein by reference.

SUMMARY OF THE INVENTION

The present invention, in some embodiments thereof, relates to a wearable or hand-held controller, and more particularly, but not exclusively, to a robot controller and, even more particularly, but not exclusively, to a teach pendant. According to an aspect of some embodiments of the present invention there is provided a kit for augmenting a tablet to act as a teach pendant, the kit including a mechanical device for electrically communicating with a tablet and a robotic machine, the mechanical device including an E-stop activator configured to cut power to a robotic machine in communication with the teach pendant, and an electric connector for connecting to a tablet.

According to some embodiments of the invention, the mechanical device further includes a dead-man- switch activator configured to enable and disable power to a motor powering the robotic machine.

According to some embodiments of the invention, the dead-man- switch activator is configured to enable and disable power to all motors powering the robotic machine.

According to some embodiments of the invention, the dead-man- switch activator is configured to enable and disable power to all motors powering the robotic machine via a command to software operating in the tablet.

According to some embodiments of the invention, the E-stop activator is a normally-closed switch.

According to some embodiments of the invention, the mechanical device is shaped as an elongate shape with the E-stop activator at an end of the elongate shape.

According to some embodiments of the invention, the mechanical device is shaped as an elongate shape with the dead-man- switch activator at an end of the elongate shape.

According to some embodiments of the invention, further including a strap for attaching the tablet to a user’s body.

According to some embodiments of the invention, the strap is configured to attach the tablet to the user’s wrist.

According to some embodiments of the invention, further including an electric signal cable providing electric signal communication between the mechanical device and the robotic machine.

According to some embodiments of the invention, the mechanical device includes a wireless communication module for communicating with the robotic machine.

According to some embodiments of the invention, further including an electric signal cable providing electric signal communication between the mechanical device and the tablet.

According to some embodiments of the invention, the mechanical device includes a wireless communication module for communicating with the tablet.

According to some embodiments of the invention, further including software for a tablet to provide emulation of a teach pendant. According to some embodiments of the invention, further including an electric signal cable providing electric signal communication between the tablet and the robotic machine.

According to some embodiments of the invention, the mechanical device includes an attachment plate for attaching to the tablet.

According to some embodiments of the invention, further including one or more clamps for clamping the tablet to the mechanical device.

According to an aspect of some embodiments of the present invention there is provided a method for augmenting a tablet to act as a teach pendant, the method including providing a mechanical device for electrically communicating with a tablet and a robotic machine, the mechanical device including an E-stop activator configured to cut power to a robotic machine in communication with the teach pendant, and an electric connector for connecting to a tablet, functionally connecting the mechanical device to the tablet, and functionally connecting the mechanical device and the tablet to communicate to a robotic machine.

According to some embodiments of the invention, the mechanical device further includes a strap for attaching the mechanical device to a user’s hand.

According to some embodiments of the invention, further including strapping the mechanical device to a user’s hand.

According to some embodiments of the invention, functionally connecting the mechanical device to the tablet includes connecting wireless communication between the mechanical device and the tablet.

According to some embodiments of the invention, functionally connecting the mechanical device to the tablet includes connecting hard- wired communication between the mechanical device and the tablet.

According to some embodiments of the invention, functionally connecting the mechanical device and the tablet to communicate to a robotic machine includes connecting wireless communication between the mechanical device and the robotic machine.

According to some embodiments of the invention, functionally connecting the mechanical device and the tablet to communicate to a robotic machine includes connecting hard-wired communication between the mechanical device and the robotic machine.

According to some embodiments of the invention, functionally connecting the mechanical device and the tablet to communicate to a robotic machine includes connecting wireless communication between the tablet and the robotic machine. According to some embodiments of the invention, functionally connecting the mechanical device and the tablet to communicate to a robotic machine includes connecting hard-wired communication between the tablet and the robotic machine.

According to some embodiments of the invention, further including installing software on the tablet to emulate a teach pendant.

According to some embodiments of the invention, further including displaying the robotic machine on a screen of the tablet.

According to some embodiments of the invention, further including using a camera included in the tablet to capture an image of the robotic machine and display the image on a screen of the tablet.

Unless otherwise defined, all technical and/or scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains. Although methods and materials similar or equivalent to those described herein can be used in the practice or testing of embodiments of the invention, exemplary methods and/or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, the materials, methods, and examples are illustrative only and are not intended to be necessarily limiting.

Implementation of the method and/or system of embodiments of the invention can involve performing or completing selected tasks manually, automatically, or a combination thereof. Moreover, according to actual instrumentation and equipment of embodiments of the method and/or system of the invention, several selected tasks could be implemented by hardware, by software or by firmware or by a combination thereof using an operating system.

For example, hardware for performing selected tasks according to embodiments of the invention could be implemented as a chip or a circuit. As software, selected tasks according to embodiments of the invention could be implemented as a plurality of software instructions being executed by a computer using any suitable operating system. In an exemplary embodiment of the invention, one or more tasks according to exemplary embodiments of method and/or system as described herein are performed by a data processor, such as a computing platform for executing a plurality of instructions. Optionally, the data processor includes a volatile memory for storing instructions and/or data and/or a non-volatile storage, for example, a magnetic hard-disk and/or removable media, for storing instructions and/or data. Optionally, a network connection is provided as well. A display and/or a user input device such as a keyboard or mouse are optionally provided as well. BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

Some embodiments of the invention are herein described, by way of example only, with reference to the accompanying drawings and images. With specific reference now to the drawings and images in detail, it is stressed that the particulars shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this regard, the description taken with the drawings and images makes apparent to those skilled in the art how embodiments of the invention may be practiced.

In the drawings:

FIG. 1A is an image of a prior art teach pendant;

FIG. 1B is also an image of a prior art teach pendant;

FIG. 2A is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant according to an example embodiment;

FIG. 2B is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant according to an example embodiment;

FIG. 2C is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant according to an example embodiment;

FIG. 2D is a simplified line drawing of a device for augmenting a tablet to act as a teach pendant according to an example embodiment;

FIGs. 2E and 2F are simplified line drawings of the device of FIG. 2D according to an example embodiment;

FIG. 3 A is a simplified line drawing of the device of FIG. 2D attached to a user’s arm according to an example embodiment;

FIG. 3B is a simplified line drawing of the device of FIG. 2D held by a user according to an example embodiment;

FIG. 3C is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant held by a user according to an example embodiment;

FIG. 3D is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant held by a user according to an example embodiment;

FIG. 4 is an image of a teach pendant screen displayed by a tablet according to an example embodiment;

FIG. 5 is a simplified drawing of a teach pendant according to an example embodiment;

FIG. 6 is a simplified drawing of a multi-tier architecture design for a teach pendant according to an example embodiment; and FIG. 7 which is a simplified flow chart illustration of a method for augmenting a tablet to act as a teach pendant according to an example embodiment.

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION

Overview

According to an aspect of some embodiments there is provided a method for augmenting a tablet to provide functionality of a teach pendant.

In some embodiments the method includes attaching a tablet to a mechanical device, and providing some functionality of a teach pendant by the mechanical device, and some of the functionality of the teach pendant by the tablet.

In some embodiments the method includes programming the tablet to emulate some or all of the controls provided by a teach pendant.

In some embodiments the method includes programming the tablet to emulate all of the controls provided by a teach pendant except for safety controls.

In some embodiments the method includes programming the tablet to emulate all of the controls provided by a teach pendant except for a dead-man-switch.

In some embodiments the method includes programming the tablet to emulate all of the controls provided by a teach pendant except for an E-stop switch.

In some embodiments the mechanical device is configured to be held by a hand, and or strapped to a wrist and/or arm.

In some embodiments the mechanical device is configured to provide a dead-man- switch and/or an E-switch functionality, optionally with the switches located conveniently close to a user’s hand holding the mechanical device. In some embodiments the dead-man-switch is optionally located directly under a finger of the user’s hand holding the mechanical device.

In some embodiments the E-Stop switch is a normally-closed switch configured for cutting power to motors of a robotic machine.

In some embodiments the dead-man- switch is optionally configurable by the user to allow/prevent motion of the robotic machine via software.

In some embodiments the dead-man-switch is optionally configurable by the user according to a relevant ISO standard. In some embodiments the dead-man- switch is optionally configurable by the user to allow/prevent motion of the robotic machine by enabling/disabling power to motors of the robotic machine.

In some embodiments the dead-man- switch functionality is optionally selected by a user during a system initialization procedure.

According to an aspect of some embodiments there is provided an add-on which, when teamed with a tablet, provides functionality of a teach pendant.

In some embodiments the add-on is a mechanical device shaped for manipulating and/or gripping, and/or strapping to a user’s body, for example to a wrist or arm.

In some embodiments the add-on includes a dead-man- switch, optionally conveniently placed so that when a user wears or grips the add-on, the dead-man-switch is located under a finger which can press the dead-man-switch while another hand optionally operates a touch screen on the tablet.

In some embodiments the add-on includes an E-stop button, optionally conveniently placed so that when a user wears or grips the add-on, the E-stop button is located in a conveniently reachable place that the user can easily press with a hand.

In some embodiments the E-stop button is located in a conveniently reachable place that the user can easily press with a hand which operates on the tablet while another other hand optionally supports the tablet.

In some embodiments the add-on includes a hard-wired electrical connection to a tablet.

In some embodiments the add-on includes a hard-wired electrical connection to a robot.

In some embodiments, the add-on optionally includes a strap for attaching to a user’s arm and/or wrist.

In some embodiments, the add-on optionally includes a grip strap for a user to steadily grip the add-on. In some embodiments the add-on includes a mechanical connection for a tablet.

In some embodiments the controller includes software for installing on a tablet, so as to provide teach pendant functionality.

In some embodiments, the software emulates teach pendant controls on the tablet touch screen. In some embodiments, the software emulates all teach pendant controls on the tablet touch screen, including a dead-man- switch and an E-stop button. In some embodiments, the software emulates all teach pendant controls on the tablet touch screen, except for a dead-man-switch. In some embodiments, the software emulates all teach pendant controls on the tablet touch screen, except for an E-stop button. In some embodiments, the software emulates all teach pendant controls on the tablet touch screen, except for a dead-man-switch and an E-stop button. According to an aspect of some embodiments there is provided a tablet-computer with an ergonomic grasping handle which is equipped with standard TP functional buttons. Briefly described, this technological development enables to form a simple-to-use low-cost fully functional TP from any tablet computer.

Safety features of the TP and/or a hard-wired Ethernet connection to a tablet are potentially relevant for field of art other than robotics, for example fields of art which use hand held a Human Machine Interface (HMI).

In some embodiments the TP is optionally based on a standard tablet, optionally running an Android or an iOS or a Linux or Windows or other operating system.

In some embodiments TP software runs on the above-mentioned table operating system.

In some embodiments the TP software runs in a WEB browser running on the tablet. In some embodiments the TP software supports an internet browser that is compatible with HTML5.

In some embodiments a TP includes a CPET which runs an internet browser.

In some embodiments a TP runs within an internet browser, not necessarily on a tablet. In some embodiments a TP runs on a desk-top computer, or a smartphone, or and/or a phablet, or a laptop, or a 2-in-l computer.

Potential benefits of a teach pendant according to example embodiments can include one or more of the following features:

- Upgradable - tablets are consumer products and can be updated;

- Low cost - customers can decide which tablet they want for running teach pendant software and/or for attaching to a teach pendant device according to an example embodiment;

- High quality touch screens and multi touch are standard for tablets;

- A high performing Human Machine Interface for the teach pendant can be developed on a standard, low cost, development environment; and

- Allows use of additional applications on the same tablet, which potentially enables OEMs to add functionality.

For purposes of better understanding some embodiments of the present invention, as illustrated in FIGs. 2A-7 of the drawings, reference is first made to FIG. 1A, which is an image of a prior art teach pendant.

FIG. 1A shows a teach pendant 100 including command buttons 102, a display screen 106 and a cable 104 for connecting the teach pendant to a robotic machine.

Reference is also made to FIG. 1B, which is also an image of a prior art teach pendant.

FIG. 1B shows a teach pendant 115 including two command buttons 117A 117B, a touch screen 119, various controls 121 implemented by software on the screen 119, and an image 123 of a current state of a robotic machine based on joints positions as controlled by the teach pendant controls 121.

Before explaining at least one embodiment of the invention in detail, it is to be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and/or methods set forth in the following description and/or illustrated in the drawings and/or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

Reference is now made to FIG. 2A, which is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant according to an example embodiment.

FIG. 2A shows a mechanical device 222 for electrically communicating with a tablet 223 and a robotic machine 224.

In some embodiments the mechanical device 222 includes an E-stop activator 225 configured to cut power to the robotic machine 224.

In some embodiments the mechanical device 222 includes an optional electric connector 226 for connecting to the tablet 223.

In various embodiments each one of communication paths 227 228 229 between the mechanical device 222, the tablet 223 and the robotic machine 224 may optionally use one or more of: wired communication or wireless communication.

In various embodiments each one of communication paths 227 228 229 between the mechanical device 222, the tablet 223 and the robotic machine 224 may optionally use Bluetooth communications .

In some embodiments the mechanical device 222 includes an optional wireless communication connection for communication to the robotic machine 224.

In some embodiments the mechanical device 222 includes an optional safety wireless communication technology connection for communication to the robotic machine 224.

In some embodiments the mechanical device 222 includes an optional Ethernet communication connection for communication to the robotic machine 224.

In some embodiments the tablet 223 includes an optional camera. In some embodiments the camera is optionally used to capture an image or to capture video, optionally real-time video, of an environment in which the robotic machine is placed.

In some embodiments the tablet 223 uses the real-time video captured by the camera to display the robot machine 224 in the work environment, optionally operating under command of the teach pendant. In some embodiments the tablet 223 uses the real-time video captured by the camera to display a virtual robotic machine 224 in the work environment, optionally operating under command of the teach pendant.

In some embodiments the device 222 is configured so as not to obstruct the camera capturing the image or video of the environment.

In some embodiments the device 222 is configured so as not to obstruct a display screen of the tablet 223.

In some embodiments one or more of the communication paths 227 228 229 between the mechanical device 222, the tablet 223 and the robotic machine 224 is a wired connection which optionally includes one or more power supplying wires.

In some embodiments the robotic machine 224 optionally provides power via a cable or wire 229 to the tablet 223. In some embodiments the robotic machine 224 optionally provides power via a cable or wire 228 to the device 222, and in some embodiments the device 222 optionally provides power via a cable or wire 227 to the tablet 223.

In some embodiments the device 222 optionally includes a battery or batteries. In some embodiments the device 222 optionally provides power via a cable or wire 227 to the tablet 223.

In some embodiments the tablet 223 optionally provides power via a cable or wire 227 to the device 222.

The term“tablet” is used in the present application and claims to mean any of a laptop, a touch-based laptop, a 2-in-l computer and a computer.

Reference is now made to FIG 2B, which is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant according to an example embodiment.

FIG. 2B shows a handle 235 for electrically communicating with a tablet 238 and a robotic machine 239.

In some embodiments the handle 235 is optionally attached to the tablet 238 - in some embodiments to a back of the tablet 238; in some embodiments to a side of the tablet 238, and in some embodiments surrounding at least some of the tablet 238.

In some embodiments the handle 235 includes an E-stop activator 236 configured to cut power to the robotic machine 239.

In some embodiments the handle 222 includes an optional electric connector 237 for connecting to the tablet 238.

In various embodiments each one of optional communication paths 240 241 242 between the handle 235, the tablet 238 and the robotic machine 239 may optionally use one or more of: wired communication or wireless communication. In various embodiments each one of communication paths 240 241 242 between the handle 235, the tablet 238 and the robotic machine 239 may optionally use Bluetooth communications.

Reference is now made to FIG. 2C, which is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant according to an example embodiment.

FIG. 2C shows a frame 245 for electrically communicating with a tablet 248 and a robotic machine 249.

In some embodiments the frame 245 is optionally attached to the tablet 248 - in some embodiments surrounding at least some of the sides of the tablet 238, in some embodiments surrounding also at least some of a back of the tablet 248.

In some embodiments the frame 245 includes an E-stop activator 246 configured to cut power to the robotic machine 249.

In some embodiments the frame 245 includes an optional electric connector 247 for connecting to the tablet 248.

In various embodiments each one of optional communication paths 250 251 252 between the frame 245, the tablet 248 and the robotic machine 249 may optionally use one or more of: wired communication or wireless communication.

In various embodiments each one of communication paths 250 251 252 between the frame 245, the tablet 248 and the robotic machine 249 may optionally use Bluetooth communications.

Reference is now made to FIG. 2D, which is a simplified line drawing of a device for augmenting a tablet to act as a teach pendant according to an example embodiment.

FIG. 2D shows a device 202 for electrically communicating with a tablet 201, the device 202 including an enable switch 204, also referred to as a Dead-Man Switch 204, and a safety motion button 203, also referred to as an E-Stop button 203.

FIG. 2D shows a back-left isometric view of the device 202.

Some communication options

In some embodiments the device 202 optionally includes an optional wire 205, for communication with a robot (not shown).

In some embodiments the wire 205 optionally provides Dead-Man Switch 204 functionality and/or E-Stop button 203 functionality for controlling the robot by wire.

In some embodiments the device 202 optionally includes a wireless communication component (not shown) and optionally provides Dead-Man Switch 204 functionality and/or E-Stop button 203 functionality for controlling the robot by wireless communication, such as, by way of some non-limiting examples, by Bluetooth communication and by WiFi communication. In some embodiments the Dead-Man Switch functionality is optionally activated by a robot if wireless communication has been disrupted or disconnected between the robot and: the device 202 and/or the Dead-Man Switch 204 and/or the tablet 201.

In some embodiments, proof of wireless communications between the device 202 and a robot and/or the tablet 201 is optionally provided by periodic messages and/or acknowledgements between the device 202 and the robot and/or the tablet 201.

In some embodiments the device 202 optionally includes a wire (not shown in FIG. 2D), for communication with the tablet 201.

In some embodiments the device 202 optionally includes a wireless communication component (not shown) for communication with the tablet 201.

Some attachment options

In some embodiments the device 202 optionally includes an attachment mechanism 206 for attaching to the tablet 201 such as shown in FIG. 2D. The attachment mechanism 206 optionally includes clamps 207 or prongs 207 or hooks 207 for grasping the tablet 201.

In some embodiments the device 202 optionally includes an attachment plate 212 for attaching to the tablet 201.

In some embodiments the device 202 optionally includes an attachment mechanism (not shown) such, for example:

an optional case (not shown) which attaches to the tablet 201;

a mechanism (not shown) for attaching to an optional third-party case of the tablet 201, such as one or more attachment screws or an attachment magnet.

In some embodiments the device 202 is optionally constructed as part of a tablet (not shown in FIG. 2D).

An optional strap

In some embodiments an optional strap 210 is optionally attached to the tablet 201, as shown in FIG. 2D, or optionally attached to the device 202, to attach the tablet 201 to a user arm/hand/body-part without need for gripping.

In some embodiments the strap 210 optionally includes an attachment 211 to an optional case (not shown) which attaches to the tablet 201.

Reference is now made to FIGs. 2E and 2F, which are simplified line drawings of the device of FIG 2D according to an example embodiment.

FIG. 2E shows a front isometric view of the device 202.

FIG. 2F shows a back-right isometric view of the device 202. FIGs. 2E and 2F show the strap 210 detached from the tablet 201, and an optional connector 213 which optionally connects a strap attachment 211 to the tablet 201. In some embodiments the connector 213 is optionally a magnet.

In some embodiments the E-Stop button 203 is optionally an off-the-shelf, optionally a normally-closed switch that can cut power to a robot’s motor(s). In some embodiments, when pressed, the E-Stop button 203 optionally disconnects a safe-torque-off of a robot drive, thus disabling the robot.

In some embodiments Dead-Man functionality is optionally configurable by a user to act in one of two options. Option 1 is to allow/prevent motion by means of software. Option 2 is to enable/disable power to the motor(s). In some embodiments Dead-Man functionality is optionally selected by the user during system initialization procedure.

In some embodiments a grasping handle and/or wrist band can optionally be mounted at any position on a tablet frame. This potentially enables a user to use any one or even all of a tablet’s connectors (USB, HDMI ... etc.). The grasping handle can optionally be fixed to the tablet for left- hand or for right-hand users, optionally subject to the user’s preference.

In some embodiments the wrist band and/or the grasping handle can be flipped upside down, and the GUI can be run in an inverted mode.

In some embodiments mounting the device 102 and/or the grasping handle is optionally done by tightening the prongs 207 or hooks 207 or grippers 207.

In some embodiments the strap 210 is optionally magnetized to a magnet which the user optionally fixes to a back of a tablet.

Reference is now additionally made to FIG. 3A, which is a simplified line drawing of the device of FIG. 2D attached to a user’s arm according to an example embodiment.

FIG. 3A shows a user’s arm 301 surrounded by the strap 210, and a user’s hand 302 grasping the device 202. Additional components of the device 202 are shown, such as the E-Stop button 203, and the optional wire 205. The tablet 201 is also shown.

FIG. 3A shows the device 202 and the tablet 201 optionally used in an optional configuration for one-handed use.

Reference is now additionally made to FIG. 3B, which is a simplified line drawing of the device of FIG. 2D held by a user according to an example embodiment.

FIG. 3B shows a user’ s left arm 314 and left hand 315, the left hand 315 holding an optional strap 210, and/or the tablet 201, and the user’s right arm 311 and right hand 312, the right hand 312 holding the device 202. In some embodiments, the left hand 315 holds the tablet 201 and the strap 210 may or may not be included in the device.

FIG. 3B shows the device 202 and the tablet 201 optionally used in an optional configuration for two-handed use.

In some embodiments, such as shown in FIG. 3A, an operator can use a Teach Pendant (TP), optionally including a tablet 201 and device 202 in two configurations: working with a single hand while the TP is supported on a forearm as shown in FIG. 3A; and working with two hands, as shown in FIG. 3B.

Reference is now made to FIG. 3C, which is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant held by a user according to an example embodiment.

FIG. 3C shows a handle 321 for electrically communicating with a tablet 323 and a robotic machine 324.

In some embodiments the handle 321 includes an E-stop activator 322 optionally configured to cut power to the robotic machine 324.

FIG. 3C shows a user’s hand 320, optionally holding the handle 321. In some embodiments, the handle 321 is optionally constructed so that the E-stop activator 322 is next to or right under a user’s thumb 327 when the handle 321 is held by the user’s hand 320 and/or the fingers 328, with or without the thumb 327 participating in the holding.

Reference is now made to FIG. 3D, which is a simplified block diagram illustration of a device for augmenting a tablet to act as a teach pendant held by a user according to an example embodiment.

FIG. 3D shows a frame 336 for electrically communicating with a tablet 338 and a robotic machine 340.

In some embodiments the frame 336 includes an E-stop activator 337 optionally configured to cut power to the robotic machine 340.

FIG. 3D shows a user’s hand 335, optionally holding the frame 336. In some embodiments, the frame 336 is optionally constructed so that the E-stop activator 337 is next to or right under a user’s thumb 341 when the frame 336 is held by the user’s hand 335 and/or the fingers 342, with or without the thumb 341 participating in the holding.

Reference is also made to FIG. 4, which is an image of a teach pendant screen displayed by a tablet according to an example embodiment.

FIG. 4 shows a tablet 400 with a teach pendant display screen 401. In some embodiments software running on the tablet 400 optionally implements one or more teach pendant controls such as mode selection buttons 402, jog buttons 403, and a display screen 404.

In some embodiments the display screen 404 is a camera display screen.

In some embodiments the mode selection buttons 402 optionally include a manual (Tl) mode, a semi-automatic mode (T2) and an Automatic (A) mode.

In some embodiments the mode selection buttons 402 optionally include a Teach (T) mode which is a manual mode, an Automatic mode (A) and an External (E) mode where a robot is controlled by another device.

In some embodiments, in manual mode, motion is executed manually or by a program, optionally using a limited velocity with a dead-man switch pressed.

In some embodiments, in automatic mode, motion is executed by a program, optionally using normal (non-limited) speed. In some embodiments the dead-man switch is optionally ignored.

In some embodiments, in semi-automatic mode, motion is optionally executed using reduced speed (when generated manually) and optionally using normal speed (when generated by a program), and in some embodiments the dead-man switch must be pressed. In some embodiment the semi-automatic mode is optionally used for program verification.

In some embodiments the tablet 400 in the manual mode includes the tablet controlling a robot 406.

In some embodiments the tablet 400 in the automatic mode performs control commands recorded during a manual mode.

In some embodiments the mode selection buttons 402 are optionally implemented as specific locations on a touch screen 401 of the tablet 400.

In some embodiments the jog buttons 403 are optionally implemented as specific locations on the touch screen 401 of the tablet 400.

In some embodiments the camera display screen 404 is optionally implemented as a specific location on the touch screen 401 of the tablet 400.

FIG. 4 shows the camera display screen 404 showing a scene including an image of a robotic machine 406 as captured by a camera (not shown). In some embodiments the camera capturing the scene showing the robotic machine 406 is a back camera in the tablet 400.

In some embodiments the camera optionally provides an image or a video of the robotic machine 406 and the tablet 400 optionally transmits the image or video to a remote location, optionally for using remote support. In some embodiments the camera optionally provides an image or a video of the robotic machine 406 and/or a work environment, optionally for use in implementing an Augmented Reality (AR) or a Virtual Reality (VR) display, optionally as described in above-mentioned U.S. Provisional Patent Applications entitled“AUGMENTED REALITY FOR INDUSTRIAL ROBOTICS”.

In some embodiments the TP is optionally based on a standard tablet, with Android or iOS or other operating system, running TP software.

In some embodiments the TP runs in a web browser running in the TP. In some embodiments the TP optionally supports an internet web browser, optionally compatible with HTML5. In some embodiments the TP optionally supports an internet web browser, optionally compatible with some other language in which the TP software is coded.

In some embodiments a TP is optionally a specially designed TP having a CPU on which internet browsers can run. Specifically, a TP does not necessarily run on a tablet, and may optionally be a specific design of a Teach Pendant.

Reference is now made to FIG. 5, which is a simplified drawing of a teach pendant 501 according to an example embodiment.

FIG. 5 shows a tablet 502 inserted into a containing frame 503.

The frame 503 optionally includes one or more of:

an optional E-Stop button 504;

an optional dead-man switch 511;

an optional operation mode selector 505, in some embodiments operated by a key;

optional direction buttons 506;

one or more optional function keys 507;

an optional handle slot 508 for an optional hand-grip 509; and

optional jog buttons 510.

In some embodiments the operation mode selector 505 optionally includes a real key.

FIG. 5 shows a teach pendant 501 which optionally has some or all of the following Teach Pendant features implemented in hardware: mode selector, jog keys, function keys.

In some embodiments some or all of the above Teach Pendant are optionally implemented as soft keys or touch-screen keys.

In some embodiments the frame 503 includes an adjustable shape, so as to grip various sizes of tablet. By way of a non-limiting example the frame 503 optionally includes one or more sections 503b, and does not include one or more sections 503a, as shown by the dashed lines 503a. by way of a non-limiting example the included portions 503b may be corners, as shown in FIG. 5. In some embodiments the operation mode selector 505 is optionally used as a hardware device optionally functionally connected to a digital input of the tablet.

In some embodiments, the operation mode selector 505 is optionally implemented by software on the tablet 502, and optionally operated by using a touch screen on the tablet 502.

In various embodiments the tablet 502 may be attached to a frame 503 or a handle (such as the device 202 of FIG. 2D) by one or more of a mechanical clamp, a magnet, a vacuum or suction cup, and an adjustable frame.

In some embodiments the tablet 502 includes an optional camera (not shown). In some embodiments the camera is optionally used to capture an image or to capture video, optionally real time video, of an environment in which a robotic machine is placed.

In some embodiments the frame 503 is configured so as not to obstruct the camera of the tablet 502.

In some embodiments the frame 503 is configured so as not to obstruct a display screen of the tablet 502.

Reference is now made to FIG. 6, which is a simplified drawing of a multi-tier architecture design for a teach pendant according to an example embodiment.

FIG. 6 shows an illustration 601 of a multi-tier architecture design for teach pendant software.

In some embodiments the software is designed to operate on a tablet.

In some embodiments the software is designed to operate on special-purpose and/or custom-designed, and/or bespoke teach pendant hardware.

FIG. 6 shows a lower, operating system tier 602. In some embodiments the operating system may be one of: iOS, OSX, Linux; a lightweight version of Linux; Android; and Windows.

FIG. 6 shows an optional intermediate-tier web server block 603. In some embodiments the web server may be one of: an Apache web server; a TUX web server; and a Windows web server.

FIG. 6 shows an optional intermediate-tier motion controller (MC) block 604.

FIG. 6 shows an optional higher-tier block of user-task programs 606 or routines. In some embodiments the user-task programs or routines are optionally written in the MC-BASIC programming language. In some embodiments the user-task programs or routines are optionally written in the Forth or Gforth language.

FIG. 6 shows an optional higher- tier block of a TP library 607 of Teach Pendant programs.

FIG. 6 shows an optional higher-tier block of a library 605 of Teach-Pendant- specific user- interface routines. In some embodiments the specific user- interface routines are optionally written in the HTML5 markup language. In some embodiments the motion controller (MC) block 604 is a software layer between which controls the device to send commands to motors of a robot.

In some embodiments the TP library 607 optionally includes programs which determine when and where a robot is commanded to move, optionally sent through the MC block 604 to a robot.

In some embodiments communication between the blocks shown in FIG. 6 is optionally between any block in a tier and any other block in the same tier, and between a block in a tier and a block in a neighboring tier above or below.

In some embodiments communication between the blocks shown in FIG. 6 is optionally between any block in any tier and any other block in any other tier.

Reference is now made to FIG. 7, which is a simplified flow chart illustration of a method for augmenting a tablet to act as a teach pendant according to an example embodiment.

The method of FIG. 7 includes:

providing a mechanical device for electrically communicating with a tablet and a robotic machine (702), the mechanical device comprising:

an E-stop activator configured to cut power to a robotic machine in communication with the teach pendant; and

an electric connector for connecting to a tablet;

functionally connecting the mechanical device to the tablet; and

functionally connecting the mechanical device and the tablet to communicate to a robotic machine (704).

In some embodiments the mechanical device further includes a dead-man switch, implemented in hardware and/or in software.

It is expected that during the life of a patent maturing from this application many relevant teach pendants will be developed and the scope of the term teach pendants is intended to include all such new technologies a priori.

It is expected that during the life of a patent maturing from this application many relevant robot controllers will be developed and the scope of the term robot controllers is intended to include all such new technologies a priori.

As used herein the term“about” refers to ± 10 %.

The terms“comprising”,“including”,“having” and their conjugates mean“including but not limited to”.

The term“consisting of’ is intended to mean“including and limited to”. The term“consisting essentially of’ means that the composition, method or structure may include additional ingredients, steps and/or parts, but only if the additional ingredients, steps and/or parts do not materially alter the basic and novel characteristics of the claimed composition, method or structure.

As used herein, the singular form“a”,“an” and“the” include plural references unless the context clearly dictates otherwise. For example, the term“a unit” or“at least one unit” may include a plurality of units, including combinations thereof.

The words“example” and“exemplary” are used herein to mean“serving as an example, instance or illustration”. Any embodiment described as an “example or“exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments and/or to exclude the incorporation of features from other embodiments.

The word“optionally” is used herein to mean“is provided in some embodiments and not provided in other embodiments”. Any particular embodiment of the invention may include a plurality of“optional” features unless such features conflict.

Throughout this application, various embodiments of this invention may be presented in a range format. It should be understood that the description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be considered to have specifically disclosed all the possible sub-ranges as well as individual numerical values within that range. For example, description of a range such as from 1 to 6 should be considered to have specifically disclosed sub-ranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6 etc., as well as individual numbers within that range, for example, 1, 2, 3, 4, 5, and 6. This applies regardless of the breadth of the range.

Whenever a numerical range is indicated herein, it is meant to include any cited numeral (fractional or integral) within the indicated range. The phrases“ranging/ranges between” a first indicate number and a second indicate number and“ranging/ranges from” a first indicate number “to” a second indicate number are used herein interchangeably and are meant to include the first and second indicated numbers and all the fractional and integral numerals therebetween.

It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable sub-combination or as suitable in any other described embodiment of the invention. Certain features described in the context of various embodiments are not to be considered essential features of those embodiments, unless the embodiment is inoperative without those elements.

Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the spirit and broad scope of the appended claims.

All publications, patents and patent applications mentioned in this specification are herein incorporated in their entirety by reference into the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated to be incorporated herein by reference. In addition, citation or identification of any reference in this application shall not be construed as an admission that such reference is available as prior art to the present invention. To the extent that section headings are used, they should not be construed as necessarily limiting.

Claims

WHAT IS CLAIMED IS:

1. A kit for augmenting a tablet to act as a teach pendant, the kit comprising:

a mechanical device for electrically communicating with a tablet and a robotic machine, the mechanical device comprising:

an electric connector for connecting to a tablet.

2. The kit of claim 1 wherein the mechanical device further comprises a dead-man- switch activator configured to enable and disable power to a motor powering the robotic machine.

3. The kit of claim 2 wherein the dead-man-switch activator is configured to enable and disable power to all motors powering the robotic machine.

4. The kit of any one of claims 2-3 wherein the dead-man- switch activator is configured to enable and disable power to all motors powering the robotic machine via a command to software operating in the tablet.

5. The kit of any one of claims 1-4 wherein the E-stop activator is a normally-closed switch.

6. The kit of any one of claims 1-5 wherein the mechanical device is shaped as an elongate shape with the E-stop activator at an end of the elongate shape.

7. The kit of any one of claims 2-5 wherein the mechanical device is shaped as an elongate shape with the dead-man- switch activator at an end of the elongate shape.

8. The kit of any one of claims 1-7 and further comprising a strap for attaching the tablet to a user’s body.

9. The kit of claim 8 wherein the strap is configured to attach the tablet to the user’s wrist.

10. The kit of any one of claims 1-9 and further comprising an electric signal cable providing electric signal communication between the mechanical device and the robotic machine.

11. The kit of any one of claims 1-9 wherein the mechanical device comprises a wireless communication module for communicating with the robotic machine.

12. The kit of any one of claims 1-10 and further comprising an electric signal cable providing electric signal communication between the mechanical device and the tablet.

13. The kit of any one of claims 1-10 wherein the mechanical device comprises a wireless communication module for communicating with the tablet.

14. The kit of any one of claims 1-12 and further comprising software for a tablet to provide emulation of a teach pendant.

15. The kit of any one of claims 1-14 and further comprising an electric signal cable providing electric signal communication between the tablet and the robotic machine.

16. The kit of any one of claims 1-15 wherein the mechanical device comprises an attachment plate for attaching to the tablet.

17. The kit of any one of claims 1-16 and further comprising one or more clamps for clamping the tablet to the mechanical device.

18. A method for augmenting a tablet to act as a teach pendant, the method comprising: providing a mechanical device for electrically communicating with a tablet and a robotic machine, the mechanical device comprising:

an electric connector for connecting to a tablet;

functionally connecting the mechanical device to the tablet; and

functionally connecting the mechanical device and the tablet to communicate to a robotic machine.

19. The method of claim 18 wherein the mechanical device further comprises a strap for attaching the mechanical device to a user’s hand.

20. The method of claim 19 and further comprising strapping the mechanical device to a user’s hand.

21. The method of any one of claims 18-20 wherein functionally connecting the mechanical device to the tablet comprises connecting wireless communication between the mechanical device and the tablet.

22. The method of claim 18 wherein functionally connecting the mechanical device to the tablet comprises connecting hard-wired communication between the mechanical device and the tablet.

23. The method of any one of claims 18-22 wherein functionally connecting the mechanical device and the tablet to communicate to a robotic machine comprises connecting wireless communication between the mechanical device and the robotic machine.

24. The method of any one of claims 18-22 wherein functionally connecting the mechanical device and the tablet to communicate to a robotic machine comprises connecting hard wired communication between the mechanical device and the robotic machine.

25. The method of any one of claims 18-24 wherein functionally connecting the mechanical device and the tablet to communicate to a robotic machine comprises connecting wireless communication between the tablet and the robotic machine.

26. The method of any one of claims 18-24 wherein functionally connecting the mechanical device and the tablet to communicate to a robotic machine comprises connecting hard wired communication between the tablet and the robotic machine.

27. The method of claim 18 and further comprising installing software on the tablet to emulate a teach pendant.

28. The method of any one of claims 18-27 and further comprising displaying the robotic machine on a screen of the tablet.

29. The method of any one of claims 18-28 and further comprising using a camera comprised in the tablet to capture an image of the robotic machine and display the image on a screen of the tablet.