WO2020104314A1 - Teach pendant - Google Patents

Teach pendant

Info

Publication number
WO2020104314A1
WO2020104314A1 PCT/EP2019/081458 EP2019081458W WO2020104314A1 WO 2020104314 A1 WO2020104314 A1 WO 2020104314A1 EP 2019081458 W EP2019081458 W EP 2019081458W WO 2020104314 A1 WO2020104314 A1 WO 2020104314A1
Authority
WO
WIPO (PCT)
Prior art keywords
teach pendant
robot
operating mode
electrical
teach
Prior art date
Application number
PCT/EP2019/081458
Other languages
French (fr)
Inventor
Kristian Kassow
Original Assignee
Kassow Robots Aps
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 Kassow Robots Aps filed Critical Kassow Robots Aps
Publication of WO2020104314A1 publication Critical patent/WO2020104314A1/en

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 input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display

Definitions

  • the present disclosure relates to a teach pendant, e.g. a hand-held device used to instruct a robot, e.g. specifying the character and types of motions the robot is to do.
  • a teach pendant e.g. a hand-held device used to instruct a robot, e.g. specifying the character and types of motions the robot is to do.
  • Hand-held devices used to instruct a robot, e.g. of character and types of motions, are also commonly known as teach pendants.
  • the teach pendant is usually used to control the robot, e.g. remotely. Teach pendants often offer a variety of settings to control the robot.
  • Teach pendants may comprise mechanical buttons, and/or may comprise a touch screen interface for detecting user inputs.
  • Teach pendants are also normally provided with an emergency stop button, also known as a kill switch, such as to enable an operator to immediately shut down the robot easily and quickly, in case of an undesired behaviour or potential safety hazard.
  • an emergency stop button also known as a kill switch
  • Teach pendants may be wired or wirelessly coupled to the robot. However, to ensure reliability of the emergency stop, wired coupling of the teach pendant and the robot is most common.
  • a teach pendant such as a teach pendant for teaching or operating a robot.
  • the teach pendant being configured to be coupled, such as electrically and/or physically coupled, to the robot by one or more electrical cables.
  • the teach pendant comprises a touch sensitive display device for detecting user inputs indicative of an intended operation of the robot.
  • the touch sensitive display device may be a capacitive touch display.
  • the teach pendant comprises: an emergency stop button configured to transmit an emergency stop signal to the robot via the one or more electrical cables; a first wireless transceiver configured to provide a first wireless communication link to a second wireless transceiver of the robot; and a processing unit configured to receive a touch input signal from the touch sensitive display device, and transmit an instruction signal based on the touch input signal to the robot.
  • the teach pendant and/or the processing unit in a first operating mode is configured to transmit the instruction signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables.
  • the teach pendant and/or the processing unit in a second operating mode is configured to transmit the instruction signal to the robot via the first wireless communication link.
  • a robotic system comprising a robot and a teach pendant, such as the disclosed teach pendant, wherein the teach pendant is coupled, such as electrically and/or physically coupled, to the robot by one or more electrical cables.
  • a method of operating a teach pendant such as the disclosed teach pendant, wherein the teach pendant is coupled, such as electrically and/or physically coupled, to the robot by one or more electrical cables, and wherein the teach pendant comprises: a touch sensitive display device for detecting user inputs indicative of an intended operation of the robot; an emergency stop button configured to transmit an emergency stop signal to the robot via the one or more electrical cables; and a first wireless transceiver configured to provide a first wireless communication link to a second wireless transceiver of the robot.
  • the method comprises: receiving a touch input signal from the touch sensitive display device; in accordance with the teach pendant being in a first operating mode transmitting an instruction signal based on the touch input signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables; and in accordance with the teach pendant being in a second operating mode transmitting the instruction signal based on the touch input signal to the robot via the first wireless communication link.
  • the disclosed teach pendant allows switching between a wired and a wireless communication method, without having to unplug cables or similar.
  • the disclosed invention provides a convenient method for operating a teach pendant in noisy environments.
  • the disclosed invention provides an enhanced method for operating a teach pendant and an associated teach pendant and robotic system.
  • the one or more electrical cables may comprise a first electrical cable and/or a second electrical cable.
  • the emergency stop button may be configured to transmit the emergency stop signal to the robot via a second electrical coupling provided by the second electrical cable.
  • the emergency stop may be provided with a designated wiring to provide for a reliable safety feature.
  • the first electrical coupling may be disconnected.
  • the teach pendant e.g. the processing unit of the teach pendant, may in the second operating mode be configured to disconnect the first electrical coupling.
  • the second electrical coupling may be maintained, e.g. to maintain full functionality of the emergency stop to provide for a reliable safety feature.
  • the second electrical coupling may be maintained both the first operating mode and the second operating mode.
  • the teach pendant may be continuously coupled, e.g . physically coupled, to the robot.
  • the teach pendant may be continuously coupled, e.g. physically coupled, to the robot regardless of the operating mode.
  • the teach pendant may be coupled, e.g. physically coupled, to the robot in the second operating mode.
  • the teach pendant may be coupled, e.g. physically coupled, to the robot in the first operating mode.
  • the second operating mode may be activated based on user input, such as a user input received by a manual switch.
  • the teach pendant may comprise a manual switch, e.g. configured to receive a user input.
  • the teach pendant such as the processing unit of the teach pendant, may be configured to activate the second operating mode based on the user input received by the manual switch.
  • the manual switch may be a mechanical switch and/or button or may be provided by a part of the touch sensitive display device.
  • the second operating mode may be activated based on a noise condition, such as a detected noise condition.
  • the teach pendant e.g. the processing unit of the teach pendant may be configured to detect a noise condition.
  • the teach pendant e.g. the processing unit of the teach pendant, may be configured to activate the second operating mode based on the noise condition.
  • the noise condition may be detected based on the touch input signal received from the touch sensitive display device.
  • the teach pendant e.g. the processing unit of the teach pendant, may be configured to detect the noise condition, e.g . based on the touch input signal received from the touch sensitive display device. For example, frequency analysis of the touch input signal may reveal a noisy condition, e.g. be indicative of the touch input signal being less likely to represent the actual intended input of the operator. Thus, the noise condition may be detected based on a frequency analysis of the touch input signal.
  • the first operating mode may be activated, such as re-activated, after a set time, e.g. a predetermined time, e.g. following activation of the second operating mode.
  • the teach pendant e.g. the processing unit of the teach pendant, may be configured to activate the first operating mode based on a predetermined time, e.g. following activation of the second operating mode.
  • the first operating mode may be activated, such as re-activated, based on user input, such as a user input received by a manual switch, such as the same manual switch as used to activate the second operating mode.
  • the teach pendant such as the processing unit of the teach pendant, may be configured to activate the first operating mode based on the user input, e.g. a second user input, received by the manual switch.
  • the first operating mode may be a default and/or an initial mode of the teach pendant.
  • the teach pendant may be configured to be in the first operating mode when the teach pendant is powered on.
  • the teach pendant may comprise a power unit configured to draw electrical current via the first electrical coupling.
  • the power unit may be configured to supply power to electronic components of the teach pendant, e.g. including the processing unit, the touch sensitive display device and/or the first wireless transceiver.
  • the power unit may comprise a battery, e.g . configured to supply the power to the electronic components in the second operating mode, e.g. wherein the first electrical coupling may be disconnected.
  • Fig. 1 schematically shows an exemplary robotic system
  • Figs. 2a and 2b show block diagrams of an exemplary robotic system
  • Fig. 3 is a flowchart showing an exemplary method
  • FIG. 1 schematically shows an exemplary robotic system 2.
  • Figs. 2a and 2b shows a block diagram of an exemplary robotic system 2.
  • Fig. 1, 2a and 2b will be described together in the following.
  • the robot system 2 comprises a robot 4 and a teach pendant 6.
  • the teach pendant 6 is electrically and physically coupled to the robot 4 by electrical cables including a first electrical cable 8 and a second electrical cable 10.
  • the teach pendant 6 comprises a touch sensitive display device 12, configured for detecting user inputs, such as touch user input 13, e.g. indicative of an intended operation of the robot 4.
  • the teach pendant 6 comprises an emergency stop button 14.
  • the emergency stop button is configured to transmit an emergency stop signal 15 to the robot 4 via an electrical coupling provided by one of the electrical cables, such as a second electrical coupling provided by the second electrical cable 10 as illustrated in Figs. 2a and 2b.
  • the teach pendant 6 comprises a first wireless transceiver 16.
  • the first wireless transceiver 16 is configured to provide a first wireless communication link 17 to a second wireless transceiver 18 of the robot 4.
  • the teach pendant 6 comprises a processing unit 20 configured to receive a touch input signal 22 from the touch sensitive display device 12, e.g. indicative of the touch user input 13.
  • the processing unit 20 is further configured to transmit an instruction signal 24 based on the touch input signal 22 to the robot 4, such as to a robot processing unit 32 of the robot 4.
  • the processing unit is configured to transmit the instruction signal 24 to the robot 4 via a first electrical coupling provided by the first electrical cable 8.
  • the processing unit is configured to transmit the instruction signal 24 to the robot 4 via the first wireless communication link 17, e.g. via the first wireless transceiver 16.
  • the second wireless transceiver 18 may receive the instruction signal 24 and transmit it to the robot processing unit 32
  • the teach pendant 6, in the illustrated example, comprises a manual switch 26.
  • the manual switch 26 is configured to receive a switch user input 28.
  • the teach pendant is thereby configured to activate the second operating mode based on the switch user input 28 received by the manual switch 26.
  • the processing unit 20 may receive a manual switch signal 27 from the manual switch 26 indicative of a request to activate the second operating mode.
  • the teach pendant 6 such as the processing unit 20 may be configured to detect a noise condition, and activate the second operating mode based on the noise condition.
  • the manual switch 26 may be omitted.
  • automatic detection and activation of the second operating mode may also be employed in combination with the manual switching facilitated by the manual switch 26.
  • the teach pendant 6 comprises a power unit 29 configured to draw electrical current 31 via the first electrical coupling 8, e.g. in the first operating mode, as illustrated in Fig. 2a.
  • the power unit 29 is configured to supply power to electronic components of the teach pendant, including the processing unit 20, the touch sensitive display device 12 and the first wireless transceiver 16.
  • the power unit comprises a battery 30 configured to supply the power to the electronic components 12, 20, 16 in the second operating mode, as illustrated in Fig. 2b.
  • Fig. 3 is a flow chart of an exemplary method 200 of operating a teach pendant, such as the teach pendant as described above and/or illustrated in the previous figures.
  • the method 200 comprises receiving 102 a touch input signal from the touch sensitive display device.
  • the method 200 further comprises, in accordance with the teach pendant being in a first operating mode transmitting 104 an instruction signal based on the touch input signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables; and in accordance with the teach pendant being in a second operating mode, transmitting 106 the instruction signal based on the touch input signal to the robot via the first wireless communication link.

Abstract

Disclosed is a teach pendant for teaching or operating a robot, the teach pendant being configured to be electrically coupled to the robot by one or more electrical cables. The teach pendant in a first operating mode is configured to transmit an instruction signal to the robot via a first electrical coupling provided by a first electrical cable, and the teach pendant in a second operating mode is configured to transmit the instruction signal to the robot via a first wireless communication link.

Description

TEACH PENDANT
The present disclosure relates to a teach pendant, e.g. a hand-held device used to instruct a robot, e.g. specifying the character and types of motions the robot is to do.
BACKGROUND
Hand-held devices, used to instruct a robot, e.g. of character and types of motions, are also commonly known as teach pendants. The teach pendant is usually used to control the robot, e.g. remotely. Teach pendants often offer a variety of settings to control the robot.
Teach pendants may comprise mechanical buttons, and/or may comprise a touch screen interface for detecting user inputs.
Teach pendants are also normally provided with an emergency stop button, also known as a kill switch, such as to enable an operator to immediately shut down the robot easily and quickly, in case of an undesired behaviour or potential safety hazard.
Teach pendants may be wired or wirelessly coupled to the robot. However, to ensure reliability of the emergency stop, wired coupling of the teach pendant and the robot is most common.
SUMMARY
It is an object of the present disclosure to provide an enhanced teach pendant. In particular it is an object of the present disclosure to provide a teach pendant, which is less susceptible to electronic noise.
Accordingly, a teach pendant is disclosed, such as a teach pendant for teaching or operating a robot. The teach pendant being configured to be coupled, such as electrically and/or physically coupled, to the robot by one or more electrical cables.
The teach pendant comprises a touch sensitive display device for detecting user inputs indicative of an intended operation of the robot. The touch sensitive display device may be a capacitive touch display.
The teach pendant comprises: an emergency stop button configured to transmit an emergency stop signal to the robot via the one or more electrical cables; a first wireless transceiver configured to provide a first wireless communication link to a second wireless transceiver of the robot; and a processing unit configured to receive a touch input signal from the touch sensitive display device, and transmit an instruction signal based on the touch input signal to the robot.
The teach pendant and/or the processing unit in a first operating mode is configured to transmit the instruction signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables. The teach pendant and/or the processing unit in a second operating mode is configured to transmit the instruction signal to the robot via the first wireless communication link.
Also disclosed is a robotic system comprising a robot and a teach pendant, such as the disclosed teach pendant, wherein the teach pendant is coupled, such as electrically and/or physically coupled, to the robot by one or more electrical cables.
Also disclosed is a method of operating a teach pendant, such as the disclosed teach pendant, wherein the teach pendant is coupled, such as electrically and/or physically coupled, to the robot by one or more electrical cables, and wherein the teach pendant comprises: a touch sensitive display device for detecting user inputs indicative of an intended operation of the robot; an emergency stop button configured to transmit an emergency stop signal to the robot via the one or more electrical cables; and a first wireless transceiver configured to provide a first wireless communication link to a second wireless transceiver of the robot.
The method comprises: receiving a touch input signal from the touch sensitive display device; in accordance with the teach pendant being in a first operating mode transmitting an instruction signal based on the touch input signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables; and in accordance with the teach pendant being in a second operating mode transmitting the instruction signal based on the touch input signal to the robot via the first wireless communication link.
Consequently, the disclosed teach pendant allows switching between a wired and a wireless communication method, without having to unplug cables or similar.
The inventors have found that in some environmental conditions, operating a teach pendant may be susceptible to electronic noise, which in particular may affect the detected input of touch sensitive displays. Thus, the disclosed invention provides a convenient method for operating a teach pendant in noisy environments. Hence, the disclosed invention provides an enhanced method for operating a teach pendant and an associated teach pendant and robotic system.
The one or more electrical cables may comprise a first electrical cable and/or a second electrical cable. The emergency stop button may be configured to transmit the emergency stop signal to the robot via a second electrical coupling provided by the second electrical cable. Thus, the emergency stop may be provided with a designated wiring to provide for a reliable safety feature.
In the second operating mode, the first electrical coupling may be disconnected. The teach pendant, e.g. the processing unit of the teach pendant, may in the second operating mode be configured to disconnect the first electrical coupling. In the second operating mode, the second electrical coupling may be maintained, e.g. to maintain full functionality of the emergency stop to provide for a reliable safety feature. The second electrical coupling may be maintained both the first operating mode and the second operating mode.
The teach pendant may be continuously coupled, e.g . physically coupled, to the robot. For example, the teach pendant may be continuously coupled, e.g. physically coupled, to the robot regardless of the operating mode. For example, the teach pendant may be coupled, e.g. physically coupled, to the robot in the second operating mode. The teach pendant may be coupled, e.g. physically coupled, to the robot in the first operating mode.
The second operating mode may be activated based on user input, such as a user input received by a manual switch. The teach pendant may comprise a manual switch, e.g. configured to receive a user input. The teach pendant, such as the processing unit of the teach pendant, may be configured to activate the second operating mode based on the user input received by the manual switch. The manual switch may be a mechanical switch and/or button or may be provided by a part of the touch sensitive display device.
The second operating mode may be activated based on a noise condition, such as a detected noise condition. The teach pendant, e.g. the processing unit of the teach pendant may be configured to detect a noise condition. The teach pendant, e.g. the processing unit of the teach pendant, may be configured to activate the second operating mode based on the noise condition.
The noise condition may be detected based on the touch input signal received from the touch sensitive display device. The teach pendant, e.g. the processing unit of the teach pendant, may be configured to detect the noise condition, e.g . based on the touch input signal received from the touch sensitive display device. For example, frequency analysis of the touch input signal may reveal a noisy condition, e.g. be indicative of the touch input signal being less likely to represent the actual intended input of the operator. Thus, the noise condition may be detected based on a frequency analysis of the touch input signal.
The first operating mode may be activated, such as re-activated, after a set time, e.g. a predetermined time, e.g. following activation of the second operating mode. The teach pendant, e.g. the processing unit of the teach pendant, may be configured to activate the first operating mode based on a predetermined time, e.g. following activation of the second operating mode.
The first operating mode may be activated, such as re-activated, based on user input, such as a user input received by a manual switch, such as the same manual switch as used to activate the second operating mode. The teach pendant, such as the processing unit of the teach pendant, may be configured to activate the first operating mode based on the user input, e.g. a second user input, received by the manual switch.
The first operating mode may be a default and/or an initial mode of the teach pendant. The teach pendant may be configured to be in the first operating mode when the teach pendant is powered on.
The teach pendant may comprise a power unit configured to draw electrical current via the first electrical coupling. The power unit may be configured to supply power to electronic components of the teach pendant, e.g. including the processing unit, the touch sensitive display device and/or the first wireless transceiver. The power unit may comprise a battery, e.g . configured to supply the power to the electronic components in the second operating mode, e.g. wherein the first electrical coupling may be disconnected. BRIEF DESCRIPTION OF THE FIGURES
Embodiments of the disclosure will be described in more detail in the following with regard to the accompanying figures. The figures show one way of implementing the present invention and are not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.
Fig. 1 schematically shows an exemplary robotic system,
Figs. 2a and 2b show block diagrams of an exemplary robotic system
Fig. 3 is a flowchart showing an exemplary method
DETAILED DESCRIPTION
Various exemplary embodiments and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the invention or as a limitation on the scope of the invention. In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.
Fig. 1, schematically shows an exemplary robotic system 2. Figs. 2a and 2b shows a block diagram of an exemplary robotic system 2. Fig. 1, 2a and 2b will be described together in the following.
The robot system 2 comprises a robot 4 and a teach pendant 6. The teach pendant 6 is electrically and physically coupled to the robot 4 by electrical cables including a first electrical cable 8 and a second electrical cable 10.
The teach pendant 6 comprises a touch sensitive display device 12, configured for detecting user inputs, such as touch user input 13, e.g. indicative of an intended operation of the robot 4. The teach pendant 6 comprises an emergency stop button 14. The emergency stop button is configured to transmit an emergency stop signal 15 to the robot 4 via an electrical coupling provided by one of the electrical cables, such as a second electrical coupling provided by the second electrical cable 10 as illustrated in Figs. 2a and 2b.
The teach pendant 6 comprises a first wireless transceiver 16. The first wireless transceiver 16 is configured to provide a first wireless communication link 17 to a second wireless transceiver 18 of the robot 4.
The teach pendant 6 comprises a processing unit 20 configured to receive a touch input signal 22 from the touch sensitive display device 12, e.g. indicative of the touch user input 13. The processing unit 20 is further configured to transmit an instruction signal 24 based on the touch input signal 22 to the robot 4, such as to a robot processing unit 32 of the robot 4.
In a first operating mode, as illustrated in Fig. 2a, the processing unit is configured to transmit the instruction signal 24 to the robot 4 via a first electrical coupling provided by the first electrical cable 8.
In a second operating mode, as illustrated in Fig. 2b, the processing unit is configured to transmit the instruction signal 24 to the robot 4 via the first wireless communication link 17, e.g. via the first wireless transceiver 16. The second wireless transceiver 18 may receive the instruction signal 24 and transmit it to the robot processing unit 32
The teach pendant 6, in the illustrated example, comprises a manual switch 26. The manual switch 26 is configured to receive a switch user input 28. The teach pendant is thereby configured to activate the second operating mode based on the switch user input 28 received by the manual switch 26. For example, the processing unit 20 may receive a manual switch signal 27 from the manual switch 26 indicative of a request to activate the second operating mode.
Alternatively or additionally, the teach pendant 6, such as the processing unit 20 may be configured to detect a noise condition, and activate the second operating mode based on the noise condition. In such situation, the manual switch 26 may be omitted. However, automatic detection and activation of the second operating mode may also be employed in combination with the manual switching facilitated by the manual switch 26. The teach pendant 6 comprises a power unit 29 configured to draw electrical current 31 via the first electrical coupling 8, e.g. in the first operating mode, as illustrated in Fig. 2a. The power unit 29 is configured to supply power to electronic components of the teach pendant, including the processing unit 20, the touch sensitive display device 12 and the first wireless transceiver 16. The power unit comprises a battery 30 configured to supply the power to the electronic components 12, 20, 16 in the second operating mode, as illustrated in Fig. 2b.
Fig. 3 is a flow chart of an exemplary method 200 of operating a teach pendant, such as the teach pendant as described above and/or illustrated in the previous figures. The method 200 comprises receiving 102 a touch input signal from the touch sensitive display device.
The method 200 further comprises, in accordance with the teach pendant being in a first operating mode transmitting 104 an instruction signal based on the touch input signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables; and in accordance with the teach pendant being in a second operating mode, transmitting 106 the instruction signal based on the touch input signal to the robot via the first wireless communication link.
The invention has been described with reference to a preferred embodiment. However, the scope of the invention is not limited to the illustrated embodiment, and alterations and modifications can be carried out without deviating from the scope of the invention.
Throughout the description, the use of the terms "first", "second", "third", "fourth", "primary", "secondary", "tertiary", etc., does not imply any particular order or importance, but is included to identify individual elements. Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa. LIST OF REFERENCES
2 robotic system
4 robot
6 teach pendant
8 first electrical cable
10 second electrical cable
12 touch sensitive display device
13 touch user input
14 emergency stop button
15 emergency stop signal
16 first wireless transceiver
17 first wireless communication link
18 second wireless transceiver
20 processing unit
22 touch input signal
24 instruction signal
26 manual switch
27 manual switch signal
28 switch user input
29 power unit
30 battery
32 robot processing unit
100 method
102 receiving touch input signal
104 transmitting instruction signal via first electrical coupling
106 transmitting instruction signal via first wireless communication link

Claims

1. A teach pendant for teaching or operating a robot, the teach pendant being configured to be coupled to the robot by one or more electrical cables, the teach pendant comprising : a touch sensitive display device for detecting user inputs indicative of an intended operation of the robot; an emergency stop button configured to transmit an emergency stop signal to the robot via the one or more electrical cables; a first wireless transceiver configured to provide a first wireless communication link to a second wireless transceiver of the robot; and a processing unit configured to receive a touch input signal from the touch sensitive display device, and transmit an instruction signal based on the touch input signal to the robot, wherein the processing unit in a first operating mode is configured to transmit the instruction signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables, and wherein the processing unit in a second operating mode is configured to disconnect the first electrical coupling and transmit the instruction signal to the robot via the first wireless communication link.
2. Teach pendant according to claim 1, wherein the one or more electrical cables comprises a second electrical cable, and wherein the emergency stop button is configured to transmit the emergency stop signal to the robot via a second electrical coupling provided by the second electrical cable.
3. Teach pendant according to claim 2, wherein the second electrical coupling is maintained in the first operating mode and in the second operating mode.
4. Teach pendant according to any of the previous claims comprising a manual switch configured to receive a user input, and wherein the teach pendant is configured to activate the second operating mode based on the user input received by the manual switch.
5. Teach pendant according to claim 4 being configured to activate the first operating mode based on the user input received by the manual switch.
6. Teach pendant according to any of the previous claims, wherein the teach pendant is configured to detect a noise condition, and wherein the teach pendant is configured to activate the second operating mode based on the noise condition.
7. Teach pendant according to claim 6, wherein the processing unit is configured to detect the noise condition based on the touch input signal received from the touch sensitive display device.
8. Teach pendant according to any of the previous claims, wherein the teach pendant is configured to activate the first operating mode based on a predetermined time following activation of the second operating mode.
9. Teach pendant according to any of the previous claims, wherein the teach pendant is configured to be in the first operating mode when the teach pendant is powered on.
10. Teach pendant according to any of the previous claims comprising a power unit configured to draw electrical current via the first electrical coupling, the power unit being configured to supply power to electronic components of the teach pendant, including the processing unit, the touch sensitive display device and the first wireless transceiver, and the power unit comprising a battery configured to supply the power to the electronic components in the second operating mode.
11. A robotic system comprising a robot and a teach pendant according to any of claims 1-10, wherein the teach pendant is coupled to the robot by the one or more electrical cables.
12. Method of operating a teach pendant for teaching or operating a robot, wherein the teach pendant is coupled to the robot by one or more electrical cables, and wherein the teach pendant comprises: a touch sensitive display device for detecting user inputs indicative of an intended operation of the robot; an emergency stop button configured to transmit an emergency stop signal to the robot via the one or more electrical cables; and a first wireless transceiver configured to provide a first wireless communication link to a second wireless transceiver of the robot, the method comprising : receiving a touch input signal from the touch sensitive display device; - in accordance with the teach pendant being in a first operating mode transmitting an instruction signal based on the touch input signal to the robot via a first electrical coupling provided by a first electrical cable of the one or more electrical cables; and in accordance with the teach pendant being in a second operating mode transmitting the instruction signal based on the touch input signal to the robot via the first wireless communication link.
PCT/EP2019/081458 2018-11-19 2019-11-15 Teach pendant WO2020104314A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA201800880 2018-11-19
DKPA201800880 2018-11-19

Publications (1)

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WO2020104314A1 true WO2020104314A1 (en) 2020-05-28

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