(12) Umted States Patent
`Wiirn et al.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 6,362,813 B1
`Mar. 26, 2002
`
`US006362813B1
`
`7/1995 Matthews
`5,432,510 A
`5,850,206 A * 12/1998 Lemke et al.
`............. .. 345/156
`5,880,956 A *
`3/1999 Graf . . . . . . . . . . . .
`. . . .. 364/191
`
`5,914,706 A *
`6/1999 Kono
`................. .. 345/173
`6,001,015 A * 12/1999 N1sh1um1 et al.
`........... .. 463/38
`
`........ .. 345/327
`2/2000 Naughton et al.
`6,020,881 A *
`FOREIGN PATENT DOCUMENTS
`
`2/1989
`
`EP
`5;
`GB
`W0
`
`0 303 708
`3
`11/1988
`2 204 426
`5/1995
`WO 95/12843
`OTHER PUBLICATIONS
`Brantmark et al. 1982 Man/Machine communication in
`ASEA’s new robot controller ASEA Journal, vol. 55, No. 6.
`
`* Cited by examiner
`
`Primary Examiner—Steven Saras
`(4T:)Si4l;t01*En::mA’::nt 0:(17ilrn]3—l.N.\/el(1:SC(})lIeW and Tuttle PC
`(57)
`1
`1 ABSTRACT
`’
`.
`.
`.
`.
`The present invention pertains to a control and programming
`means (1) for a manipulator (2) with a manipulator control
`(3), a Computer (4) with a graphics unit and with a portable
`programming device (10), which Connected to the e0mput_
`ing unit (4) by remote data transmission. The programming
`device
`has a display screen
`without a graphics card
`of its own, Which is connected to the graphics unit (5) of the
`computer (4) by remote data transmission means and
`receives the graphic information from the said graphics unit.
`:,%::1*:;::;::i<€3;2;E
`remote data transmission for this purpose. The programming
`device (10) has a serial interface (7) for remote data trans-
`mission. The programming device (10) has a serial interface
`'
`'
`'
`'
`0)’ Wft”Ch91S Connected to the dlsplay Screen (12) V” a
`"°“"‘°" ‘’r( )'
`
`19 Claims, 6 Drawing Sheets
`
`\
`
`r — " ‘ * “ ‘ ‘ ‘I
`T’ Computer
`5
`I _ _ _ _ __ _
`|
`- 7 “ ‘I
`'- — 1
`.
`\_1'_eraphics um‘:
`I
`1_,__.L,_1__'
`
`(54) CONTROL AND PROGRAMMING UNIT
`
`Inventors; Heinz Wfjrn, Derching; Erwin Hajdu,
`Augsburg, both of (DE)
`
`(
`
`(73) Assign?/C, Kuka Roboter GmbH (DE)
`.
`*
`.
`.
`.
`.
`) Notice:
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`08/983,265
`
`(21) Appl. No.:
`.
`(22) PCT Filed:
`(86) PCT No.:
`
`Jul. 20, 1996
`PCT/EP96/03212
`
`§ 371 Date?
`
`DeC- 22: 1997
`
`§ 102(e) Date: Dec. 22, 1997
`
`(87) PCT Pub- N0-3 W097/04370
`PCT Pub. Date: Feb‘ 6’ 1997
`Foreign Application Priority Data
`(30)
`Jul. 22, 1995
`(DE)
`................................... .. 295 11 864 U
`. . . . .
`. . . . N 195 35 293
`sep. 29, 1995
`(DE)
`
`
`. . . . . . . . . . . . . . . . . . . . . . . . . .. G09G 5/00
`. . . . . .
`..................... .. 345/169; 345/158; 345/161;
`345/12; 345/2-1
`(58) Field Of Search ............................... .. 345/158, 161,
`345/169, 1.2, 2.1
`
`Int. Cl.
`(51)
`(52) U.S. Cl.
`
`7
`
`(56)
`
`_
`References Clted
`
`9/1982 Figour
`4,348,142 A
`2/1988 150136 Ct 31-
`4,723,207 A
`364/521
`2 * 1%; Elrantfiltark ft i11-
`aug CI 6 8.
`,
`,
`.
`. . . . . . . . . ..
`5,079,491 A *
`1/1992 Nose et al.
`............ 318/568.11
`5,115,179 A
`5/1992 Fujii et al.
`5,267,181 A
`11/1993 George
`5,307,055 A *
`4/1994 Baskin et al. ................ .. 345/1
`
`Manipulator
`Control
`
`7'
`
`
`
`Display
`Screen
`Porlable Program
`Device
`
`Computer
`Graphics Unit
`"7 6. 7
`Graphics Card
`
`, /
`
`\,
`
`Manipulator
`
`PETITIONER VALVE CORPORATION, EX. 1003 p. 001
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`

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`U.S. Patent
`
`Mar. 26, 2002
`
`Sheet 1 of 6
`
`US 6,362,813 B1
`
`5 \
`
`\ F " " “ " ‘ ' ' _l
`T‘ Computer
`1
`\:Graphics Unit,
`‘L
`I _ _ _ _ _ _ _‘
`|
`.5 _ _1_ _ ;_ _. -
`,
`1
`5_ 7
`I
`: Graphics Card
`
`...._._._.__..—___......._....l
`
`
`
` Manipulator
`
`Control
`
`‘
`
`1 I
`5.
`
`6, 7
`Graphics Card
`
`:—_.—.___..—:-—.._.—...—.:.—__.——-c———
`
`I
`
`.._._.—_.—._.—_._..__.—.—._.._..——_.—._..—.._a
`
`Portable Program
`
`Device
`
`Manipulator
`
`Fig. 1
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`

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`U.S. Patent
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`Mar. 26, 2002
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`Sheet 2 of 6
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`US 6,362,813 B1
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`12
`
`4
`
`Display
`Screen
`
`Computer
`
`10
`
`Keyboard
`
`Portable Program Device
`
`12
`
`14
`
`Fig. 2
`
`1 1
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`

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`U.S. Patent
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`Mar. 26, 2002
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`Sheet 3 of 6
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`US 6,362,813 B1
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`l\
`
`N m
`
`an
`to
`V‘
`
`(0
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`Nu-
`to
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`N 0
`
`‘)
`T“
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`

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`U.S. Patent
`
`Mar. 26, 2002
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`Sheet 4 of 6
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`US 6,362,813 B1
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`("7
`O’)
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`

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`U.S. Patent
`
`Mar. 26, 2002
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`Sheet 5 of 6
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`US 6,362,813 B1
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`

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`U.S. Patent
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`Mar. 26, 2002
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`Sheet 6 of 6
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`US 6,362,813 B1
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`Li:
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`5,26
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`

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`US 6,362,813 B1
`
`1
`CONTROL AND PROGRAMMING UNIT
`
`The present invention pertains to a control and program-
`ming means for a manipulator with the features in the
`preamble of the principal claim.
`Control and programming means of this type have been
`known from practice. They comprise a manipulator control
`and a computer with a graphics unit, as well as a portable
`programming device. The programming device is connected
`to the computer via cables. This arrangement makes it
`possible to control and program the manipulator, which is
`frequently located at a great distance from the manipulator
`control, at its site of use with the portable programming
`device. The control and program data are transmitted from
`the programming device to the computer via the said cable
`connection,
`they are optionally processed by the said
`computer, and passed on to the manipulator control. The
`manipulator is in turn controlled by the said manipulator
`control corresponding to the preset program.
`Prior-art programming devices have a limited comfort
`and benefit. They are equipped with simple display screens,
`which have a graphics unit of their own. The display screens
`have a limited scope of display and are frequently designed
`only as line displays. They can display basically only simple
`characters, such as letters or numbers.
`In addition,
`the
`display screen is monochrome and relatively small for
`reasons of handling. An actually desirable improvement and
`enlargement of the display screens has hitherto been
`thwarted by the associated weight problem. Such display
`screens require different, more expensive graphics units,
`which lead to a markedly higher weight. This makes opera-
`tion difficult and is not ergonomic for longer-lasting pro-
`gramming sessions.
`The prior-art programming devices are connected to the
`control box of the manipulator via a multiwire electric line
`and have otherwise hardly any other possibilities of com-
`munication. As a result,
`the operator is limited in the
`programming. Additional programming measures must be
`performed in the control box, as a result of which rather long
`distances must sometimes be covered. The handling is
`impractical and time-consuming as a result.
`The object of the present invention is therefore to show
`a more suitable control and programming means.
`The present invention accomplishes this object with the
`features in the principal claim.
`The programming device in the control and program-
`ming means according to the present invention has a display
`screen without
`its own graphics card [“Grafikharte” in
`German original is probably a typo for “Graphikkarte”—
`Tr.Ed.], which markedly reduces the weight of the program-
`ming device. The display screen receives the graphic infor-
`mation needed for the display by remote data transmission
`from the graphics unit of the computer of the manipulator
`control. The graphics unit may operate both the display
`screen of the programming device and a possibly present
`display screen of the computer.
`invention is of
`The design according to the present
`particular advantage if the programming device has a
`higher-quality display screen with larger area and more
`extensive display possibilities, especially a color display
`screen with graphics capabilities. The more complex the
`image contents to be displayed, the more complicated and
`heavier would the graphics card normally needed for this
`become. The advantages of the present invention are espe-
`cially obvious in this case.
`The graphics unit in the computer preferably has an
`interface of its own for remote data transmission, via which
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`it transmits the pure data needed for directly generating the
`image, i.e., the pixel information in the case of the modern
`pixel display screens, to the display screen of the program-
`ming device. This is, e.g., the color information red/green/
`blue and the pixel position for a color display screen.
`The graphics unit in the computer preferably has suitable
`hardware for image generation, especially a graphics card.
`This may be arranged separately as an insert card or be
`integrated within the motherboard of the computer. The
`graphics information is preferably provided as parallel sig-
`nals and is sent to the serial interface via a suitable parallel/
`serial converter.
`
`The display screen of the programming device, which is
`preferably designed as a flat LCD color display screen, has
`an integrated pixel drive with a serial interface arranged
`before it and with an inserted converter, which converts the
`serially transmitted graphic information back into parallel
`signals for the display screen.
`The programming device has extensive communications
`capabilities. It has one or more additional interfaces for
`connection to external input or output devices, e.g., key-
`boards or display screens, communications means, etc.,
`and/or external computing units. The latter may be, e.g.,
`laptop computers for programming purposes, etc. A separate
`interface with remote data transmission of its own may be
`present for the transmission of the graphic information.
`However, the arrangement may also be integrated within a
`more comprehensive interface, which is suitable and pro-
`vided for the transmission of additional data, e.g., the control
`and program data.
`The remote data transmission may take place in any
`suitable manner, i.e., via a cable, but also wireless, via radio,
`infrared or other transmission means. The interfaces prefer-
`ably have electric contacts, but they may also have connec-
`tion possibilities for other, e.g., optical, transmission means,
`e.g., fiber-optic cables.
`The interfaces are preferably located recessed in the
`housing. They may have various designs and accommodate
`cable plugs, interface cards or other suitable communica-
`tions means. The front and/or rear edge of the housing is a
`favorable place. The outlet for the connection cable to the
`manipulator or to its control is preferably also located in this
`area, unless it can be omitted because of the wireless remote
`data transmission. The design makes possible an extensively
`trouble-free and ergonomic handling and operation of the
`programming device. In addition, the interfaces and cables
`at these points are subject to little mechanical stress.
`The programming device has two or more, preferably at
`least three or four ergonomically designed grip areas. Due to
`these different possibilities of gripping,
`the operator can
`frequently change the position of his hands, which effec-
`tively prevents fatiguing phenomena. In addition, the grip
`areas have an ergonomic design and facilitate a rather
`nonfatiguing position of the hands. The interfaces fit into
`this design favorably.
`At least two and preferably three grip strips, which have
`an ergonomically especially favorable shape, are made in
`one piece with the housing edges in the preferred embodi-
`ment. At least part of the function keys are associated with
`the grip strips in the range of the fingers, so that the keys can
`be actuated comfortably, without the operator having to
`change the position of his hands or even to remove his hand
`from the device. The function keys are arranged on the top
`side of the housing in an ergonomically especially favorable
`manner and can be reached with the thumb. One or more
`
`switching keys, which are designed as, e.g., permission
`and/or start/stop keys, are located on the underside of the
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`US 6,362,813 B1
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`3
`housing in the vicinity of the grip strips in a position
`favorable for gripping. It is also favorable for the switching
`keys and the function keys to be present
`in multiple
`numbers, so that the different functions provided can be
`performed from all gripping positions.
`Aprojecting thumb ball pad is present at least at one of
`the grip strips in an ergonomically especially favorable
`manner. If a joystick is used as a multiaxially movable
`control member, it is recommended that it be arranged in the
`vicinity of the thumb ball pad and to let it project laterally.
`As a result, the control member can be comfortably reached
`and actuated from the grip strip, without the operator having
`to change his grip.
`Besides the grip strips arranged at the housing edges, it
`is also recommended to arrange a grip pin on the underside
`of the housing. Two pins are preferably provided, and they
`act as desk supports with correspondingly beveled foot
`surfaces. As a result, the programming device can also be
`placed and operated in an ergonomically advantageous
`oblique position on a firm support. The arrangement of the
`interfaces on the rear side of the housing is especially
`favorable for this setup.
`Additional advantageous embodiments of the present
`invention are described in the subclaims.
`
`The present invention is shown in the drawings sche-
`matically and as an example. Specifically,
`FIG. 1 schematically shows an overview of the control
`and programming means in connection with a manipulator
`and a manipulator control,
`FIG. 2 shows a detail view of a computer and of a
`programming device,
`FIG. 3 shows a more detailed top view of the program-
`ming device,
`FIG. 4 shows a side view of the programming device
`corresponding to arrow IV in FIG. 3,
`FIG. 5 shows a front view of the programming device
`according to arrow V in FIG. 3, and
`FIG. 6 shows a simplified top view according to FIG. 3
`with the underside of the programming device made visible.
`FIG. 1 shows an overview of a control and programming
`means (1) for a manipulator (2), preferably a multiaxial
`industrial robot, along with a manipulator control
`The
`manipulator (2) may be located at a distance of, e.g., 100 m
`or more from the manipulator control
`A portable pro-
`gramming device (10), which is connected to the manipu-
`lator control (3) and possibly to the manipulator (2) via
`corresponding remote data transmission means (8), e.g.,
`multiwire cables or lines, is provided for the remote control,
`control and programming of the manipulator
`Furthermore, the manipulator (2) is also connected to the
`manipulator control (3) via such remote data transmission
`means
`A computer (4), e.g., a personal computer, which may
`have various designs, is provided to generate and process the
`control and program data. On the one hand, it is possible to
`integrate the computer (4) within the manipulator control
`(3). However, the computer (4) may also be an external
`device, e.g., a laptop computer, which in turn may be used
`as a mobile computer. To transmit the control and program-
`ming data, the programming device (10) may be connected
`to the computer (4) via remote data transmission means
`The programming device (10) contains in its housing (11) a
`computing and control unit, not shown and described
`specifically, with which control elements to be described in
`detail later can transmit control commands to the manipu-
`lator (2) and/or the manipulator control The manipulator
`(2) can be remote-controlled and programmed at its site of
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`use via the programming device (10), and the operator can
`directly monitor and check the movements of the manipu-
`lator. The operator may move away with the programming
`device (10) from the manipulator (2) and operate the device
`from a safe location. Any desired teaching modes may be
`used via the programming device (10) during the program-
`ming of the manipulator control
`The programming device (10) has a housing (11) with a
`display screen (12), which is preferably designed as a flat
`LCD display. It may also be a display screen with active
`matrix. The display screen (12) has graphics capability and
`is preferably designed as a color display screen.
`The display screen (12) in the programming device (10)
`is operated by the computer (4) by remote data transmission
`means
`The computer (4) has a graphics unit (5), which
`consists of, e.g., a graphics card (6), which is designed as a
`separate card or is integrated on the motherboard of the
`computer
`The graphics hardware may also be designed
`in another suitable manner. The graphics unit (5) has a
`preferably independent interface (7), with which the graphic
`information is transmitted to the display screen (12) of the
`programming device (10) by remote data transmission
`means
`The computer (4) itself may also have a corre-
`sponding display screen (12), which is likewise operated by
`the graphics unit
`The serial interface (7) is preferably integrated on the
`graphics card (6) or the graphics unit (5) and is directly
`associated therewith. The graphic information of the graph-
`ics unit (5), generated as parallel signals, is converted into
`serial signals by a suitable converter (9) and is transmitted
`to the interface
`The graphic information is preferably the
`driving signals, which a display screen needs for directly
`generating graphics. This is pixel information, especially
`color information red/green/blue, and the pixel position in
`modern display screens (12). The VGA display with a
`resolution of 640><480pixels is used in the preferred embodi-
`ment.
`
`The display screen (12) in the programming device (10)
`has an integrated pixel drive. It is supplied directly with the
`graphics information transmitted from the graphics unit
`A separate, complete graphics card in the programming
`device (10) may be omitted as a result. Individual, light-
`weight graphics elements for converting or processing the
`graphic information may be present, depending on the type
`of the display screen. To receive the graphic information, the
`display screen (12) also has a serial interface (7) with a
`converter (9) arranged downstream, which converts the
`serial signals into parallel signals.
`The remote data transmission means (8) may have any
`suitable design.
`It
`is formed by two-wire or three-wire
`electric cable connections in the exemplary embodiment
`shown. However, wireless communications means, which
`transmit the data by radio, infrared light or another suitable
`manner, may also be connected to the interface
`Another design of the programming device (10) is shown
`in greater detail in FIGS. 3 through 6.
`The programming device (10) has an essentially
`parallelepipedic, transversely lying housing with ergonomi-
`cally rounded edges, which has three or more, preferably
`four ergonomically designed grip areas (15, 16, 17, 18). As
`a result, the operator can hold and operate the programming
`device (10) in different manners.
`Grip strips (15, 16, 17), which are adapted to the shape
`of the hand and are made in one piece with or integrated
`within the housing (11), are located at two or more housing
`edges (34, 35). They have surfaces favorable for gripping,
`which are, e.g., roughened or provided with grooves. The
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`grip strips (15, 16, 17) are located at the rear housing edge
`(34) and at
`the two lateral housing edges (35)
`in the
`preferred exemplary embodiment.
`As is apparent from FIGS. 4 and 5, the rear and left-hand
`grip strips (15, 16) each comprise a strip-shaped hump (32)
`made in one piece with the top side of the housing and a
`corresponding recessed grip (31) located on the underside of
`the housing. The humps (32) are used to support the carpal
`region along with the ball of the thumb. The fingers grasp
`around the housing edges (34, 35) and are supported in the
`likewise strip-shaped recessed grips (31).
`The grip strip (17) has a somewhat different design on the
`right-hand side (35) of the housing. It has a laterally pro-
`jecting thumb ball pad (24), which is adapted to the shape of
`the hand and extends along the lateral housing edge (35).
`The thumb ball pad (24), which also forms a grip at the same
`time, expands increasingly starting from the front housing
`edge (33) and then tapers again. The level of the thumb ball
`pad (24) is somewhat lowered compared with the surface of
`the housing. A longitudinally extending recessed grip (31) is
`likewise located on the underside.
`
`The fourth grip area (117) [sic—Tr.Ed.] is arranged on
`the underside of the housing and comprises a grip pin (18)
`(cf. FIG. 6). This [pin] projects vertically from the underside
`of the housing and is located in the right-hand half of the
`programming device (10). It is intended for the left hand,
`and the programming device (10) can be supported on the
`forearm of the operator. The arrangement of the grip strip
`(17) and of the thumb ball pad (24) and of the grip pin (18)
`may also be transposed to the other side of the housing for
`lefthanders, so that the programming device (10) can also be
`adapted for lefthanders by correspondingly redesigning the
`housing (11).
`The operator can hold the programming device (10) in at
`least
`three [different] intended manners with the above-
`described grip areas (15, 16, 17, 18). On the one hand, he can
`grasp the lateral grip strips (16, 17) with both hands. He can
`also hold it with the left hand by the rear grip strip (15) and
`support it on the hip. The third possibility is the above-
`mentioned holding by the grip pin (18). Finally, the pro-
`gramming device (10) may also be placed on a support in a
`position that is ergonomically favorable for operation in the
`manner described below.
`
`Most of the control elements of the programming device
`(10) are arranged on the top side of the housing (11). The
`display screen (12) is preferably located in the middle area.
`Under it is arranged, e.g., a keyboard, which may contain an
`alphanumeric keypad or typewriter keyboard and optionally
`additional control keys, such as cursor keys or the like.
`The movements and/or functions of the manipulator are
`controlled predominantly by function keys (13), which are
`preferably arranged above and on both sides of the display
`screen (12). The function keys (13) are preferably arranged
`in one or two parallel rows, which extend in the vicinity of
`and along the grip strips (15, 16, 17). The function keys are
`arranged such that they are located within the reach of the
`fingers and can be easily and comfortably reached especially
`with the thumbs. Corresponding to the multiple arrangement
`of the grip areas (15, 16, 17), the function keys (13) may also
`be present in multiple numbers. The operator is thus able to
`trigger the same function in a plurality of areas and in
`different grip areas.
`Switching keys (21), which are preferably arranged in the
`area of the recessed grip (31), are located at one or more grip
`strips (15, 16, 17) on the underside of the housing. These are,
`e.g., permission keys and/or start/stop keys. As is shown in
`FIG. 6, the switching keys (21) may consist of elongated
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`switching strips or a plurality of shorter switching elements.
`One or more switching keys (21) are also arranged at the
`grip pin (18) within the reach of the fingers. A key (not
`shown) may optionally also be arranged in the area of the
`thumb.
`
`The programming device (10) has a multiaxially mov-
`able control member (23), whose movements are transmitted
`to the translatory and rotary axes of the manipulator. The
`control member is designed as a six-axial joystick (23) for
`the six axes of the robot in the preferred embodiment.
`The control member (23) is located at one of the two
`lateral housing edges (35) or lateral housing surfaces and
`can be reached from a grip strip (17) comfortably and
`without changing the grip. The control member (23) is
`preferably seated at a short distance behind the thumb ball
`pad (24) at the right-hand side (35) of the housing.
`The control member (23) is arranged horizontally and
`projects laterally from the housing edge (35). It is directed
`essentially horizontally with its principal axis. The control
`member is designed as a joystick and has, contrary to the
`state of the art, a stump shape. The grip has no projecting
`shaft, but is seated directly at the lateral housing edge (35).
`The grip is thicker than in prior-art joysticks and has a
`cylindrical or roller shape, whose shape and size are adapted
`to the concave shape of the hollow, slightly arched hand.
`In the 6-D version, the joystick (23) may be rotated or
`tilted around the three space axes and also be displaced
`translatorily around the three space axes. The hand of the
`operator is supported on the thumb ball pad (24) in the
`process, and the grip roller of the joystick (23) can be
`grasped and actuated with the thumb,
`index finger and
`middle finger. The operator can hold the device with the
`right hand via the grip strip (17) and the thumb ball pad (24)
`and operate the joystick at the same time. In addition, he can
`also reach and actuate the adjacent function keys (13) with
`the thumb at
`the same time. Changing the grip is not
`necessary.
`The control member (23) may be switched over and
`possibly programmed in terms of the dimension of the
`movement and the use. As a result, it may be used as a
`mouse, with which, e.g., the cursor can be moved on the
`display screen (12), in the case of a 2-D switchover. In the
`case of a 1-D switching, the control member (23) may be
`used as a programmable movement or setting controller or
`key for setting a parameter. Thanks to the grip strip (17) or
`thumb ball pad (24), the control member (23) can be held
`motionless and be moved with the needed sensitiveness and
`
`precision.
`A housing attachment (28), which extends to the rear,
`projects laterally and extends over the control member (23)
`from the rear, is arranged preferably at the right-hand, rear
`housing edge (34). An emergency switch (29) and one or
`more switches (30) of the device are located on the housing
`attachment (28). These are preferably on/off switches for the
`manipulator or the robot control. A device switch (30) may
`also be a key-type switch for setting the mode of operation
`of the robot control or for other purposes.
`A second, parallel pin (18) [sic—Tr.Ed.] is located next
`to the grip pin (18) on the underside of the housing,
`preferably at a laterally spaced location. A holding strap
`(22), with which the programming device (10) can be
`additionally fastened to the hand, may also be located on the
`underside of the housing. As is illustrated in FIGS. 4 and 5,
`the pins (18, 19) may have beveled foot surfaces (20), which
`are sloped toward the front side (33) of the housing. As a
`result, the programming device (10) may be placed on a desk
`or another firm support in an oblique position in the manner
`shown in FIG. 4.
`
`PETITIONER VALVE CORPORATION, EX. 1003 p. 010
`
`PETITIONER VALVE CORPORATION, EX. 1003 p. 010
`
`

`
`US 6,362,813 B1
`
`7
`
`the
`for
`Besides the above-mentioned interface (7)
`graphic data, the programming device (10) preferably also
`has one or more additional electric interfaces (25, 26) for the
`connection of external communications means. These are
`
`preferably external input or output devices, e.g., a computer
`keyboard, a monitor, etc. The interfaces (7, 25, 26) may also
`be integrated within one unit.
`The control commands for
`
`the movements of the
`
`manipulator are transmitted to the manipulator control (3),
`e.g., via the line (27). In addition, another data connection to
`the manipulator control (3),
`the computer (4) or another
`computing unit, especially a portable computer, may be
`created via the interfaces (7, 25, 26). As a result, more
`complex operations, e.g., calculations, the entry of addi-
`tional programming data and their direct transmission to the
`robot control (3), can be performed on the programming
`device (10) on the site. The operator does not have to go to
`the control box (3) for this, but he can complete all control
`and programming tasks on the site and all at once. The hard
`line (27) may possibly be eliminated in this case.
`The interfaces (7, 25, 26) may have electric plug contacts
`for cable plugs. In addition or as an alternative, they may
`have recessed slots with electric, optical or other contacts for
`interface cards. These may be, e.g., so-called PCMCIA
`terminals. Telecommunications means, e.g., radio or infra-
`red transmitters, network cards, modems, etc., may also be
`connected to the interfaces (7, 25, 26) for communication
`with the control box, the robot control (3), a network, a
`higher manufacturing process control, etc. The line (27) may
`optionally be omitted.
`The interfaces (7, 25, 26) may be arranged in any desired
`and suitable area of the housing (11). They are located at the
`front and/or rear housing edges (33, 34) and are recessed in
`the preferred embodiment. They are shown in the rear and
`projecting in FIG. 3 for clarity’s sake. The interfaces (7, 25,
`26) may be located under the housing attachment (28). It is
`also possible to place them in the grip area (15, 16, 17, 18).
`The interfaces (7, 25, 26) may optionally be present as
`multiple interfaces and be distributed over various areas of
`the housing (11).
`The line (27) is located, e.g., at the front or rear housing
`edge (33, 34) and in the area of the left-hand corner. As a
`result, it is located outside the grip areas (15, 16, 17) and it
`does not interfere with any of the possible grip positions.
`Various modifications of the embodiments shown are
`
`possible. Thus, fewer than the four grip areas (15, 16, 17, 18)
`described may be present. Also, function keys (13) need not
`be arranged at all grip areas in the manner described. The
`joystick (23) may be omitted in a simplified embodiment.
`Modifications are also possible concerning the display (12)
`and the keyboard (14), which may have a simpler design.
`Sturdier grip elements may be present instead of the strip-
`shaped humps (32) and recessed grips (31). The program-
`ming device (10) may have a carrying strap for hanging over
`the shoulder or the neck.
`
`The programming device (10) preferably comprises very
`lightweight components in order to keep the overall weight
`and the load on the operator as low as possible.
`LIST OF REFERENCE NUMBERS
`
`. Control and programming means
`. Manipulator
`. Manipulator control, control box
`Computer, personal computer
`Graphics unit
`Graphics card
`Interface
`
`.\'.°‘P':"°’N"‘
`
`10
`
`15
`
`20
`
`25
`
`30
`
`35
`
`40
`
`45
`
`50
`
`55
`
`60
`
`65
`
`8
`8. Remote data transmission means, line
`9. Converter
`
`10. Programming device
`11. Housing
`12. Display screen, LCD display
`13. Function key
`14. Keyboard
`15. Grip area, grip strip
`16. Grip area, grip strip
`17. Grip area, grip strip
`18. Grip area, grip pin
`19. Pin, support foot
`20. Foot surface
`
`21. Switching key
`22. Holding strap
`23. Control member, joystick
`24. Thumb ball pad
`25. Interface, keyboard
`26. Interface, PC
`27. Line
`
`28. Housing attachment
`29. Emergency switch
`30. Device switch
`
`31. Recessed grip
`32. Hump
`33. Housing front side, front housing edge
`34. Housing rear side, rear housing edge
`25. Housing side, lateral housing edge
`What is claimed is:
`
`1. A robotic manipulator arrangement comprising:
`a manipulator control unit;
`a portable programming device including a display
`screen, said display screen of the portable program-
`ming device is a graphic color display screen, display-
`ing image information as pixel information having an
`graphic integrated pixel control;
`a graphics unit in the manipulator control unit for direct
`image generation and providing color graphics image
`information in graphic form including color informa-
`tion and pixel position information;
`a parallel-serial converter in said manipulator control unit
`for converting said color graphics image information
`into serial signals;
`a serial
`interface in said manipulator control unit for
`transmitting said color graphics image information as
`serial pixels;
`a serial interface in said portable programming device for
`receiving said color graphics image information as
`serial signals;
`a serial-parallel converter in said portable programming
`device for re-converting said serial signals into parallel
`color graphics image information to be displayed on
`said graphic color display screen;
`remote transmission means for transferring said color
`graphics information from said control unit
`to said
`portable programming device, said graphic color dis-
`play screen receives and displays said image informa-
`tion in said graphic form from said graphic