Terminal holding device, teaching device and robot control system

Abstract

This terminal holding device includes a mounting base for detachably mounting a portable communication terminal that controls the operation of a robot via wireless communication to a control device of the robot in accordance with teaching operation contents, a safety switch that outputs a safety signal to the control device, an interface unit to which an electric cable is connected, which includes a signal line for transmitting the safety signal to the control device and a power source line for transmitting electric power supplied from the control device, and a wireless power transmission unit that performs wireless power transmission of a part of the electric power received from the control device via the interface unit and the power source line of the electric cable to the portable communication terminal.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a terminal holding device, a teaching operation device and a robot control system. GENERAL STATE OF THE ART

[0002] A teach-in device, also known as a teach pendant, is connected to the control unit of an industrial robot and is used for teaching the robot. Using a teach-in device, an operator can perform registration and editing of a robot-related operation program, status setting, status display, robot teaching, manual operation, and the like. A teach-in device is equipped with safety switches, such as a release switch and an emergency stop button, to prevent unexpected robot movement and ensure the safety of machines and operators in the surrounding area.

[0003] In recent years, for reasons of cost reduction, ensuring flexibility, and so on, a teaching operation device that performs teaching on a robot using a universal mobile communication terminal, such as a tablet, has been used instead of dedicated hardware for a teaching operation device. In the teaching operation device, a mobile communication terminal is attached and detachably mounted to a terminal holder equipped with safety switches as the base element.

[0004] For example, in paragraph

[0025] in PTL 1, it is described: “On the other hand, the operating device 18 can be used in a state where it is attached to the controller 12 or in a state where it is separated therefrom, as in Fig. 1. Then, with the operating device 18 in the detached state, a maintenance manager of the system 10 performs an operation on the system 10, teaches the articulated robot 16, and the like, by holding the operating device 18 with one hand and operating a switch 18a placed on the surface, a touch switch displayed on a display unit 22, and the like with the other hand.

[0005] For example, paragraph

[0018] in PTL 2 describes: “For example, the charging device 2 may be a charging station on which the portable operating device 1 is placed during charging, such as a charging station described in Fig. 2 and Fig. 3, or it may be a device that is connected to the portable operating device 1 by a cable or the like during the charging process." [LIST OF CITED DOCUMENTS] [PATENT LITERATURE] [PTL 1] JP2002-154085A [PTL 2] JP2015-006115A SUMMARY OF THE INVENTION [TECHNICAL PROBLEM]

[0006] A teaching operation device configured with a universal mobile communication terminal and a terminal holder generally ensures the safety of a robot control system by connecting the terminal holder equipped with safety switches to a controller of a robot via wired communication. Since the mobile communication terminal has a wireless communication function, it is relatively easy to enable wireless communication for teaching using the mobile communication terminal between the mobile communication terminal and the controller of the robot. On the other hand, when providing teaching using the mobile communication terminal, it is important to ensure stable driving power for the mobile communication terminal.It is desirable that the teaching operation device configured with the mobile communication terminal and the terminal holding device easily secures the driving power for the mobile communication terminal. [SOLVING THE PROBLEM]

[0007] According to one aspect of the present disclosure, a terminal holding device includes: a mounting base to which a mobile communication terminal is attachably and detachably mounted, the communication terminal being configured to control a controller of a robot regarding a movement of the robot via wireless communication based on teaching operation contents; a safety switch configured to output a safety signal to the controller; an interface unit configured to be connected to an electric cable having a signal line that transmits the safety signal to the controller and a power line that transmits electric power supplied from the controller;and a wireless power transmission unit configured to wirelessly supply a portion of the electrical power received from the control device through the power line in the electrical cable and the interface unit to the mobile communication terminal; BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram illustrating a robot control system according to a first embodiment of the present disclosure. Fig. 2 is a block diagram illustrating a terminal holding device in a robot control system according to each of the first and second embodiments of the present disclosure. Fig. 3 is a block diagram illustrating a mobile communication terminal in the robot control system according to the first embodiment of the present disclosure. Fig. 4 is a diagram illustrating wireless power supply and power distribution in the robot control system according to the first embodiment of the present disclosure. Fig. 5 is a diagram illustrating the robot control system according to the second embodiment of the present disclosure. Fig. 6 is a block diagram illustrating a mobile communication terminal in the robot control system according to the second embodiment of the present disclosure. Fig. 7 is a diagram illustrating wireless power supply and power distribution in the robot control system according to the second embodiment of the present disclosure. DESCRIPTION OF EMBODIMENTS

[0008] A terminal holding device, a teaching operation device, and a robot control system according to each embodiment will be described below with reference to the drawings. In the following description, components with the same or similar functions are given the same symbol. Therefore, redundant descriptions of the components may be omitted. In the following description, "wireless power supply" refers to power supply without a connected cable (i.e., wireless). <Erste Ausführungsform>

[0009] Fig. 1 is a diagram illustrating a robot control system according to a first embodiment of the present disclosure. Fig. 2 is a block diagram illustrating a terminal holding device in a robot control system according to each of the first and second embodiments of the present disclosure. Fig. The block diagram illustrated in Figure 2 applies not only to the first embodiment but also to the second embodiment. Fig. 3 is a block diagram illustrating a mobile communication terminal in the robot control system according to the first embodiment of the present disclosure.

[0010] The robot control system 1000 according to the first embodiment of the present disclosure includes a teaching operation device 100 and a controller 200.

[0011] A robot 300 is connected to the controller 200 by a cable 41 (hereinafter referred to as a "robot cable 41") in a wired and power-transmitting manner. The movement of the robot 300 is controlled by the controller 200. An arithmetic processing device (at least one processor) and a storage device (at least one memory) are provided in the controller 200. Examples of the arithmetic processing device include an IC, an LSI, a CPU, an MPU, and a DSP. Examples of the memory include electrically erasable / writable non-volatile memories such as EEPROM (registered trademark) and high-speed read / write random access memories such as DRAM and SRAM.For example, the control device 200, which includes the arithmetic processing device, is a functional module provided by control software (a computer program) executed on a processor. By operating the arithmetic processing device in accordance with the control software, any type of processing that controls the movement of the robot 300 can be provided in the control device 200. The control software program for executing the processing in the control device 200 may be provided in the form of a recording on a computer-readable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Alternatively, the control device 200 may be provided as a semiconductor integrated circuit in which a computer program that provides the function is written.

[0012] The control device 200 is connected to an external conventional power source (not illustrated). The control device 200 divides the electrical power supplied by the conventional power source into driving power for the control device 200 itself and electrical power supplied to a terminal holding device 1. Part of the electrical power supplied from the conventional power source to the control device 200 is supplied to the terminal holding device 1 through a power line 31-2 in an electrical cable 31, which will be described later. The control device 200 can supply part of the electrical power supplied by the conventional power source as driving power to the robot 300.

[0013] The teaching operation device 100 is configured with a mobile communication terminal 2 and the terminal holding device 1.

[0014] The terminal holding device 1 has a mounting base 11, a safety switch 12, an interface unit 13 and a wireless power transmission unit 14.

[0015] The terminal holding device 1 is connected to the control unit 200 via the electrical cable 31 in a wired and power-transmitting manner. The electrical cable 31 includes a signal line 31-1, which transmits a safety signal from the safety switch 12 to the control unit 200, and a power line 31-2, which transmits electrical power from the control unit 200 to the terminal holding device 1. The electrical cable 31 is connected to the interface unit 13.

[0016] The mounting base 11 is a base for attachably and detachably mounting the mobile communication terminal 2 on the terminal holding device 1. The mounting base 11 has a holding mechanism 15 for holding the mobile communication terminal 2. As an example, the holding mechanism 15 is shown in Fig. 1 is configured with a spring mechanism that holds the mobile communication terminal 2 on the mounting base 11 such that the mobile communication terminal 2 is clamped. Other examples of the holding mechanism 15 include an air spring mechanism that holds the mobile communication terminal 2 on the mounting base 11 using air pressure, a magnet or an electromagnet that holds the mobile communication terminal 2 on the mounting base 11 using magnetic force, screws that secure the mobile communication terminal 2 to the mounting base 11, and a fixing member that fixes the mobile communication terminal 2 to the mounting base 11.

[0017] The safety switch 12 outputs a safety signal to the control unit 200. The safety signal output by the safety switch is sent to the control unit 200 via the signal line in the electrical cable 31. The safety switch 12 has an enable switch 12-1 and an emergency stop button 12-2.

[0018] The release switch 12-1 outputs a release signal as a safety signal, which allows the control of the movement of the robot 300 by the controller 200 using the mobile communication terminal 2 while it is held down (powered on), and prohibits the control of the movement of the robot 300 by the controller 200 using the mobile communication terminal 2 by releasing it from the pressed state (powered on). A release signal based on the operation contents of the release switch 12-1 is transmitted to the controller 200 through the interface unit 13 in the terminal holder 1 and the signal line 31-1 in the electric cable 31. For example, the robot 300 does not move under any operation by the mobile communication terminal 2 as long as the release switch 12-1 is not pressed.Operation of the robot 300 via the mobile communication terminal 2 is only possible while the release switch 12-1 is held down.

[0019] The emergency stop button 12-2 outputs an emergency stop signal as a safety signal, which controls the controller 200 to cause the robot 300 to perform an emergency stop. When the emergency stop button 12-2 is pressed (turned on), an emergency stop signal is transmitted to the controller 200 through the interface unit 13 in the terminal holder 1 and the signal line 31-1 in the electric cable 31. Upon receiving an emergency stop signal, the controller 200 performs control to cause the robot 300 to perform an emergency stop.

[0020] There is no direct electrical connection and no wired communication via a cable between the terminal holding device 1 and the mobile communication terminal 2, regardless of whether the mobile communication terminal 2 is attached to the terminal holding device 1. However, wireless power is supplied from the terminal holding device 1 to the mobile communication terminal 2. Wireless power supply refers to contactless power supply without a cable (i.e., wireless). The terminal holding device 1 has the wireless power transmission unit 14 for wirelessly supplying power to the mobile communication terminal 2.

[0021] The terminal holding device 1 wirelessly supplies part of the electrical power provided by the control device 200 to the mobile communication terminal 2 via the wireless power transmission unit 14. As described later, the mobile communication terminal 2 is provided with a wireless power receiving unit 21 configured to receive electrical power wirelessly supplied from the terminal holding device 1.

[0022] Examples of a method used for wireless power supply between the terminal holding device 1 and the mobile communication terminal 2 include magnetic field coupling (electromagnetic induction), electric field coupling, magnetic field resonance coupling (magnetic field resonance), and electric field resonance coupling (electric field resonance).

[0023] For example, when magnetic field resonance coupling is used for wireless power supply between the terminal holding device 1 and the mobile communication terminal 2, the wireless power transmission unit 14 is configured with a resonance circuit including a power transmission coil 141 and a power transmission resonance capacitor 142. The power transmission coil 141 generates magnetic field resonance with a power reception coil 211, which will be described later, through electric power flowing into the wireless power transmission unit 14 at a predetermined resonance frequency. Consequently, electric power is wirelessly transmitted from the power transmission coil 141 to the power reception coil 211.

[0024] Since magnetic resonance coupling is taken as an example, it is assumed that the wireless power transmission unit 14 includes the power transmission coil 141 and the power transmission resonance capacitor 142. When the wireless power supply between the terminal holding device 1 and the mobile communication terminal 2 is performed by magnetic field coupling, electric field coupling, or electric field resonance coupling, the wireless power transmission unit 14 is configured accordingly for each coupling type.

[0025] The mobile communication terminal 2 is attachably and detachably mounted on the mounting base 11 in the terminal holder 1. The mobile communication terminal 2 is a portable general-purpose information communication terminal capable of wirelessly communicating with an external device. Examples of the mobile communication terminal 2 include a tablet terminal (tablet PC) and a smartphone.

[0026] The mobile communication terminal 2 has the wireless power receiving unit 21, a control unit 22, a battery 23, a touch panel 24 and a wireless communication unit 25.

[0027] The wireless power receiving unit 21 is configured to receive electrical power wirelessly supplied from the wireless power transmitting unit 14 in the terminal holding device 1.

[0028] For example, when magnetic field resonance coupling is used for wireless power supply between the terminal holder 1 and the mobile communication terminal 2, the wireless power receiving unit 21 is configured with a resonance circuit including the power receiving coil 211 and a power receiving resonance capacitor 212. Various parameters of the power receiving coil 211 and the power receiving resonance capacitor 212 (such as the outer diameter and inner diameter of the power receiving coil 211, the number of turns of the power receiving coil 211, and the capacitance of the power receiving resonance capacitor 212) are determined such that the resonance frequency of the wireless power receiving unit 21 almost coincides with the resonance frequency of the wireless power transmitting unit 14.When the deviation amount between the resonance frequency of the wireless power receiving unit 21 and the resonance frequency of the wireless power transmitting unit 14 is small, for example, when the resonance frequency of the wireless power receiving unit 21 is within a range of ±20% of the resonance frequency of the wireless power transmitting unit 14, the resonance frequency of the wireless power receiving unit 21 and the resonance frequency of the wireless power transmitting unit 14 do not necessarily have to match. The above numerical value is provided solely as an example, and other numerical values ​​may be used.

[0029] Since magnetic resonance coupling is taken as an example in the first embodiment, it is assumed that the wireless power receiving unit 21 includes the power receiving coil 211 and the power receiving resonance capacitor 212. When the wireless power supply between the terminal holding device 1 and the mobile communication terminal 2 is performed by magnetic field coupling, electric field coupling, or electric field resonance coupling, the wireless power receiving unit 21 is configured accordingly for each coupling type.

[0030] When the power receiving coil 211 is positioned at a distance that allows magnetic field resonance with the power transmitting coil 141, the power receiving coil 211 receives electrical energy transmitted from the power transmitting coil 141. For example, the distance that allows the power receiving coil 211 to generate magnetic field resonance with the power transmitting coil 141 is preferably set to a distance that is approximately several tens of percent longer than the distance between the power receiving coil 211 and the power transmitting coil 141 when the mobile communication terminal 2 is attached to the attachment base 11 in the terminal holding device 1. The above numerical value is merely an example, and other numerical values ​​may be used.When the distance between the power receiving coil 211 and the power transmitting coil 141 is longer than the distance allowing the power receiving coil 211 to generate magnetic field resonance with the power transmitting coil 141, the power receiving coil 211 cannot receive electrical power transmitted from the power transmitting coil 141.

[0031] Electric power received by the wireless power receiving unit 21 is distributed to each unit in the mobile communication terminal 2, including the control unit 22, the battery 23, the touch panel 24, and the wireless communication unit 25.

[0032] The battery 23 is a rechargeable secondary battery and is configured, for example, with a lithium-ion battery or a nickel-hydrogen battery. The battery 23 stores drive energy required for the operation of the mobile communication terminal 2. The battery 23 is charged when electrical energy received from the wireless power transmission unit 14 is provided by the wireless power reception unit 21. When the battery 23 is charged, the state of charge (SOC) of the battery 23 is restored.At least one of the electric power received by the wireless power receiving unit 21 and the electric power stored in the battery 23 is used as driving power for each unit in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25, depending on the charge status (state of charge) of the battery 23.

[0033] The touch panel 24 has both the function of displaying the screen and accepting input operations. Examples of methods for the input operation acceptance function of the touch panel 24 include a capacitance method, an electromagnetic induction method, a resistive film method, a surface acoustic wave method, and an infrared method.

[0034] The wireless communication unit 25 performs wireless communication with an external device. A wireless communication interface (not illustrated) is also provided in the control unit 200, and the wireless communication unit 25 can wirelessly communicate with the control unit 200. For example, short-range wireless communication is used as wireless communication between the wireless communication unit 25 and the control unit 200. Short-range wireless communication represents communication with a shorter communication distance compared to long-range wireless communication, and specifically represents communication with a communication distance of, for example, less than 10 meters. The above numerical value is merely an example, and other numerical values ​​may be used.Various types of short-range wireless communication with a short communication distance can be used as short-range wireless communication, for example, communication in accordance with any communication standard formulated by IEEE, ISO, IEC, or the like [such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or ZigBee (registered trademark)]. As an example, a case of performing communication using Wi-Fi (registered trademark) is shown in . Fig. 1. Examples of technology used to implement short-range wireless communication include dedicated short-range communication (DSRC) and radio frequency identification (RFID).

[0035] The wireless communication unit 25 can also be connected to an Internet line via a mobile communication system (such as LTE, a 3G line, a 4G line, or a 5G line), which is wide-area wireless communication, and perform data communication with an external device via the Internet line.

[0036] The control unit 22 performs various types of control of the mobile communication terminal 2. The control unit 22 controls various circuits, including the touch panel 24 and the wireless communication unit 25, in the mobile communication terminal 2.

[0037] The control unit 22 has a communication interface 221, a memory 222, and a processor 223. The communication interface 221, the memory 222, and the processor 223 are electrically connected to each other via a bus.

[0038] The communication interface 221 includes an interface circuit for electrically connecting the control unit 22 to various types of equipment comprising the mobile communication terminal 2 (such as the touch panel 24 and the wireless communication unit 25). The control unit 22 communicates with the other equipment via the communication interface 221.

[0039] For example, the memory 222 is configured with an electrically erasable / writable non-volatile memory, such as an EEPROM (registered trademark), or a high-speed read / write random access memory, such as a DRAM and an SRAM. The memory 222 stores an operating program for executing various types of processing in the processor 223, various application software programs, various types of data used in executing various types of processing by the processor 223, and the like.

[0040] Examples of processor 223 include an integrated circuit (IC), an LSI, a CPU, an MPU, and a DSP. Processor 223 may further include an arithmetic circuit, such as a logical arithmetic unit or a numerical arithmetic unit. Processor 223 executes various types of processing based on the program stored in memory 222.

[0041] Since the mobile communication terminal 2 is a general-purpose information communication terminal, various application software programs can be installed in the memory 222. One of the programs is a teaching software program for controlling the controller 200 with respect to the movement of the robot 300 based on teaching operation contents to the robot 300. The teaching software program is an application software program for performing registration and editing of an operation program related to the robot 300, state setting, state display, teaching of the robot 300, manual operation, and the like.

[0042] The control unit 22 executes the teaching software program to control the control device 200 so that the robot 300 moves based on operation contents related to a teaching operation for the robot 300. When an operator operates the mobile communication terminal 2 in the teaching operation device 100, the mobile communication terminal 2 controls the control device 200 with respect to the movement of the robot 300 through wireless communication based on the teaching operation contents. The mobile communication terminal 2 provides a wireless teaching operation function of operating (teaching) the robot 300 by executing arithmetic processing by the processor 223 in accordance with the teaching software program stored in the memory 222 in the control unit 22.

[0043] Fig. 4 is a diagram illustrating the wireless power supply and power distribution in the robot control system according to the first embodiment of the present disclosure. In Fig. 4, the illustration of the touch panel 24 and the wireless communication unit 25 in the mobile communication terminal 2 is omitted.

[0044] The control unit 200 supplies a portion of the electrical power supplied by the external conventional power source to the terminal holding device 1 through the power line 31-2 in the electrical cable 31. The terminal holding device 1 uses a portion of the supplied electrical power as driving power for each unit in the terminal holding device 1, including the release switch 12-1 and the emergency stop button 12-2. The terminal holding device 1 transmits a portion of the remaining supplied electrical power to the wireless power transmission unit 14.

[0045] By attaching the mobile communication terminal 2 to the attachment base 11 in the terminal holder 1, the state between the wireless power transmission unit 14 in the terminal holder 1 and the wireless power reception unit 21 in the mobile communication terminal 2 becomes a wireless power supply capable state. For example, when magnetic field resonance coupling is used for wireless power supply between the terminal holder 1 and the mobile communication terminal 2, the power reception coil 211 in the wireless power reception unit 21 is positioned at a distance that allows magnetic field resonance with the power transmission coil 141 in the wireless power transmission unit 14 by attaching the mobile communication terminal 2 to the attachment base 11 in the terminal holder 1.The power transmission coil 141 in the wireless power transmission unit 14 generates magnetic field resonance with the power reception coil 211 in the wireless power reception unit 21 by flowing electric power having a predetermined resonance frequency into the wireless power transmission unit 14. Consequently, electric power is wirelessly supplied from the wireless power transmission unit 14 to the wireless power reception unit 21. In this case, magnetic resonance coupling is used as an example. When the wireless power supply between the terminal holding device 1 and the mobile communication terminal 2 is performed by magnetic field coupling, electric field coupling, or electric field resonance coupling, the wireless power supply occurs according to an operation principle corresponding to each type of coupling.The battery 23 is charged when electrical power received by the wireless power receiving unit 21 from the wireless power transmitting unit 14 is supplied. At least one of the electrical power received by the wireless power receiving unit 21 and the electrical power stored in the battery 23 is used as driving power for each unit in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25, depending on the charge status of the battery 23.An amount of electric power exceeding an amount of driving power for the units in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25, and included in an amount of electric power received by the wireless power receiving unit 21, can be used to charge the battery 23, depending on the charge status (state of charge) of the battery 23.

[0046] When the mobile communication terminal 2 is removed from the mounting base 11 in the terminal holder 1, the power receiving coil 211 in the wireless power receiving unit 21 is not positioned at a distance that allows magnetic field resonance with the power transmission coil 141 in the wireless power transmission unit 14. Therefore, no wireless power is supplied from the wireless power transmission unit 14 to the wireless power receiving unit 21. When the mobile communication terminal 2 is removed from the mounting base 11 in the terminal holder 1, the electrical energy stored in the battery 23 is used as the driving power for each unit in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25.

[0047] According to the first embodiment of the present disclosure, the power supply is wirelessly performed from the terminal holding device 1 to the mobile communication terminal 2, and therefore the terminal holding device 1 does not need to be connected to the mobile communication terminal 2 by a power cable, and the driving power for the mobile communication terminal 2 can be easily secured.

[0048] According to the first embodiment of the present disclosure, no power cable is required to supply power to the mobile communication terminal 2. Accordingly, the weight of the training operation device 100 can be reduced. Furthermore, power problems such as unexpected battery depletion due to an abrupt power cable disconnection or breakage can be avoided.

[0049] According to the first embodiment of the present disclosure, no power cable is required, and therefore, no connector for connecting a power cable needs to be provided in either the terminal holding device 1 or the mobile communication terminal 2. Accordingly, neither the terminal holding device 1 nor the mobile communication terminal 2 needs to be provided with a dustproof structure and a waterproof structure for the connector. This can achieve a reduction in manufacturing costs, an improvement in usability, and an expansion of the usable environment.

[0050] For example, an industrial robot may be installed in an explosion-proof room depending on its intended use. Generally, when a live wire, not limited to a power wire, is plugged into or unplugged from a connector, a micro-electric spark may occur in the connection area of ​​the connector. There is a risk of explosion caused by the occurrence of an electric spark in an explosion-proof room. Therefore, plugging and unplugging a wire into and out of a connector in an explosion-proof room is prohibited for safety reasons. Therefore, when charging a mobile communication terminal using a power wire, the mobile communication terminal must be temporarily removed from the explosion-proof room, and the mobile communication terminal cannot be used during this time.On the other hand, according to the first embodiment of the present disclosure, the process of plugging and unplugging a power cable into and out of a connector is eliminated, and thus the mobile communication terminal 2 can be charged in an explosion-proof room in which an industrial robot is installed. Furthermore, the use of the mobile communication terminal 2 can also be continued during this time. <Zweite Ausführungsform>

[0051] Fig. 5 is a diagram illustrating a robot control system according to the second embodiment of the present disclosure. Fig. 6 is a block diagram illustrating a mobile communication terminal in the robot control system according to the second embodiment of the present disclosure. Fig. 2 is applied as a block diagram of a terminal holding device 1 in the robot control system according to the second embodiment of the present disclosure.

[0052] The second embodiment of the present disclosure differs from the first embodiment in that a mobile communication terminal 2 does not have a battery.

[0053] The robot control system 1000 according to the second embodiment of the present disclosure includes a teaching operation device 100 and a controller 200.

[0054] The control unit 200 connected to a robot 300 by means of a robot cable 41 is as in the first embodiment with reference to Fig. 1 and Fig. 4. The control device 200 is connected to an external conventional power source (not illustrated). The control device 200 distributes electrical power supplied by the conventional power source into driving power for the control device 200 itself and electrical power supplied to the terminal holding device 1. Part of the electrical power supplied from the conventional power source to the control device 200 is supplied to the terminal holding device 1 via a power line 31-2 in an electrical cable 31. The control device 200 can supply part of the electrical power supplied by the conventional power source as driving power to the robot 300.

[0055] The teaching operation device 100 is configured with the mobile communication terminal 2 and the terminal holding device 1.

[0056] The terminal holding device 1 is as in the first embodiment with reference to Fig. 1, Fig. 2 and Fig. 4. The terminal holding device 1 uses a portion of the supplied electric power as driving power for each unit in the terminal holding device 1, including a release switch 12-1 and an emergency stop button 12-2. The terminal holding device 1 wirelessly supplies a portion of the remaining supplied electric power to the mobile communication terminal 2 via the wireless power transmission unit 14. As an example, magnetic field resonance coupling is also used in the second embodiment for the wireless power supply between the terminal holding device 1 and the mobile communication terminal 2.

[0057] The mobile communication terminal 2 is attachably and detachably mounted on the mounting base 11 in the terminal holder 1. The mobile communication terminal 2 is a portable general-purpose information communication terminal capable of wirelessly communicating with an external device. Examples of the mobile communication terminal 2 include a tablet terminal (tablet PC) and a smartphone.

[0058] The mobile communication terminal 2 comprises a wireless power receiving unit 21, a control unit 22, a touch panel 24, and a wireless communication unit 25. The wireless power receiving unit 21, the control unit 22, the touch panel 24, and the wireless communication unit 25 are as in the first embodiment with reference to Fig. 1, Fig. 3 and Fig. 4. As an example, the second embodiment also uses magnetic field resonance coupling for wireless power supply between the terminal holder 1 and the mobile communication terminal 2, and therefore, the wireless power receiving unit 21 is configured with a resonance circuit including a power receiving coil 211 and a power receiving resonance capacitor 212. The relationship between the resonance frequency of the wireless power receiving unit 21 and the resonance frequency of the wireless power transmitting unit 14, and the positional relationship between the power receiving coil 211 and the power transmitting coil 141 are as described in the first embodiment. Since magnetic resonance coupling is also used as an example in the second embodiment, it is assumed that the wireless power receiving unit 21 includes the power receiving coil 211 and the power receiving resonance capacitor 212.When the wireless power supply between the terminal holding device 1 and the mobile communication terminal 2 is carried out by magnetic field coupling, electric field coupling or electric field resonance coupling, the wireless power receiving unit 21 is configured according to the respective type of coupling.

[0059] According to the second embodiment, electric power received by the wireless power receiving unit 21 is distributed to each unit in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25.

[0060] Fig. Figure 7 is a diagram illustrating the wireless power supply and power distribution in the robot control system according to the second embodiment of the present disclosure. An illustration of the touch panel 24 and the wireless communication unit 25 in the mobile communication terminal 2 is shown in Fig. 7 omitted.

[0061] The control unit 200 supplies a portion of the electrical power supplied by the external conventional power source to the terminal holding device 1 via the power line 31-2 in the electrical cable 31. The terminal holding device 1 uses a portion of the supplied electrical power as driving power for each unit in the terminal holding device 1, including the release switch 12-1 and the emergency stop button 12-2. The terminal holding device 1 transmits a portion of the remaining supplied electrical power to the wireless power transmission unit 14.

[0062] When the mobile communication terminal 2 is attached to the attachment base 11 in the terminal holding device 1, wireless power supply is performed between the wireless power transmission unit 14 in the terminal holding device 1 and the wireless power reception unit 21 in the mobile communication terminal 2. For example, when magnetic field resonance coupling is used for wireless power supply between the terminal holding device 1 and the mobile communication terminal 2, the power reception coil 211 in the wireless power reception unit 21 is positioned at a distance that allows magnetic field resonance with the power transmission coil 141 in the wireless power transmission unit 14 by attaching the mobile communication terminal 2 to the attachment base 11 in the terminal holding device 1.The power transmission coil 141 in the wireless power transmission unit 14 generates magnetic field resonance with the power reception coil 211 in the wireless power reception unit 21 by flowing electrical power at a predetermined resonance frequency into the wireless power transmission unit 14. Consequently, electrical power is wirelessly supplied from the wireless power transmission unit 14 to the wireless power reception unit 21. The electrical power received by the wireless power reception unit 21 from the wireless power transmission unit 14 is used as driving power for each unit in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25.

[0063] When the mobile communication terminal 2 is removed from the mounting base 11 in the terminal holder 1, the power receiving coil 211 in the wireless power receiving unit 21 is not positioned at a distance that allows magnetic field resonance with the power transmitting coil 141 in the wireless power transmitting unit 14. Therefore, no wireless power is supplied from the wireless power transmitting unit 14 to the wireless power receiving unit 21. Therefore, no driving power is supplied to each unit in the mobile communication terminal 2, including the control unit 22, the touch panel 24, and the wireless communication unit 25, and thus the mobile communication terminal 2 does not operate. In other words, the control unit 22 does not execute any learning software program.The wireless communication unit 25 does not communicate wirelessly with an external device and, of course, does not communicate wirelessly with the control unit 200.

[0064] Thus, in a state where the mobile communication terminal 2 is attached to the attachment base 11 in the terminal holding device 1, wireless power is supplied from the terminal holding device 1 to the mobile communication terminal 2, and thus the mobile communication terminal 2 also operates. Accordingly, an operator can perform teaching on the robot 300 using the mobile communication terminal 2. When the operator removes the mobile communication terminal 2 from the attachment base 11 in the terminal holding device 1, wireless power is not supplied from the terminal holding device 1 to the mobile communication terminal 2, and thus the mobile communication terminal 2 does not operate, and the wireless communication between the wireless communication unit 25 and the controller 200 is forcibly interrupted.Consequently, the operator cannot perform a teaching operation on the robot 300 using the mobile communication terminal 2. When the mobile communication terminal 2 is subsequently reattached to the terminal holding device 1, the wireless power supply from the terminal holding device 1 to the mobile communication terminal 2 is resumed, and thus the mobile communication terminal 2 operates; and thus, the operator can again perform a teaching operation on the robot 300 using the mobile communication terminal 2.

[0065] According to the second embodiment of the present disclosure, similarly to the first embodiment, wireless power supply is performed from the terminal holding device 1 to the mobile communication terminal 2, and thus the terminal holding device 1 does not need to be connected to the mobile communication terminal 2 via a power cable, and the driving power for the mobile communication terminal 2 can be easily secured.

[0066] According to the second embodiment of the present disclosure, no battery is provided in the mobile communication terminal 2, and therefore, a weight and cost reduction of the mobile communication terminal 2 can be achieved. Furthermore, no power cable is required for supplying power to the mobile communication terminal 2. Accordingly, the weight of the training operation device 100 can be reduced.

[0067] According to the second embodiment of the present disclosure, no battery is provided in the mobile communication terminal 2, and therefore there is no concern about unexpected battery depletion, and thus there is no need for battery replacement due to battery wear.

[0068] According to the second embodiment of the present disclosure, similar to the first embodiment, no power cable is required, and therefore, there is no need to provide a connector for connecting a power cable in both the terminal holding device 1 and the mobile communication terminal 2. Accordingly, neither the terminal holding device 1 nor the mobile communication terminal 2 needs to be provided with a dustproof structure and a waterproof structure for the connector. This can achieve a reduction in manufacturing costs, an improvement in usability, and an expansion of the usable environment.Since there is no need to plug and unplug a power cable into and out of a connector, the mobile communication terminal 2 can be charged in an explosion-proof room in which an industrial robot is installed, and the use of the mobile communication terminal 2 can also be continued.

[0069] According to the second embodiment of the present disclosure, by simply performing an operation of removing the mobile communication terminal 2 from the attachment base 11 in the terminal holding device 1, the wireless communication between the wireless communication unit 25 and the controller 200 is forcibly interrupted, and the operator's teaching of the robot 300 using the mobile communication terminal 2 is prohibited. Therefore, for example, when a dangerous situation occurs in which the teaching of the robot 300 using the mobile communication terminal 2 must be immediately stopped, safety can be easily ensured simply by the operator performing the operation of removing the mobile communication terminal 2 from the attachment base 11 in the terminal holding device 1.For example, the teaching operation device 100 including the terminal holding device 1 and the mobile communication terminal 2 according to the second embodiment of the present disclosure conforms to the safety standard for wireless control of machinery EN62745 (IEC62745). <Modifiziertes Beispiel der zweiten Ausführungsform>

[0070] As described above, no battery is provided in the mobile communication terminal 2 according to the second embodiment of the present disclosure. As a modified example of the second embodiment, a capacitor that temporarily stores the electric power received by the wireless power receiving unit may be provided to stabilize the operation of the mobile communication terminal 2. <Sicherstellung der Antriebsenergie für das mobile Kommunikationsendgerät>

[0071] According to at least one embodiment described above, the driving power for the mobile communication terminal 2 can be easily secured in the teaching operation device 100 configured with the mobile communication terminal 2 and the terminal holding device 1, and the robot control system 1000 including the teaching operation device 100. In other words, various difficulties in securing power associated with the mobile communication terminal 2, such as unexpected battery depletion and use in an environment where securing driving power is not easy, can be eliminated.

[0072] Although the present disclosure has been described in detail above, the present disclosure is not limited to each of the above-described embodiments. Various additions, replacements, changes, partial deletions, and the like can be made to the embodiments without departing from the spirit of the present disclosure or departing from the scope of the present disclosure, which is understood from the contents described in the claims and their equivalents. Furthermore, the embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the operation order or processing order is described as an example and is not limited thereto. This applies even if a numerical value or a mathematical expression is used in the description of the above-mentioned embodiments.

[0073] Furthermore, the following supplementary notes are disclosed with regard to the above embodiments and modified examples thereof. (Supplementary Note 1)

[0074] A terminal holding device 1, which comprises: a mounting base 11 to which a mobile communication terminal 2 is attachably and detachably mounted, which communication terminal is configured to control a controller 200 of a robot 300 with respect to a movement of the robot 300 by wireless communication based on teaching operation contents; a safety switch 12 which outputs a safety signal to the control unit 200; an interface unit 13 configured to be connected to an electrical cable 31 having a signal line 31-1 transmitting the safety signal to the control unit 200 and a power line 31-2 transmitting electrical power provided by the control unit 200; and a wireless power transmission unit 14 configured to wirelessly supply a portion of the electric power received from the control device 200 through the power line 31-2 in the electric cable 31 and the interface unit 13 to the mobile communication terminal 2. (Supplementary Note 2)

[0075] The terminal holding device 1 according to supplementary note 1, wherein the safety switch 12 comprises: an enable switch that, as the safety signal, outputs an enable signal allowing control of a movement of the robot 300 by the controller 200 when pressed, and prohibits control of a movement of the robot 300 by the controller 200 when released; and an emergency stop button which, as the safety signal, outputs an emergency stop signal which, when actuated, controls the controller 200 to cause the robot 300 to make an emergency stop. (Supplementary Note 3)

[0076] A teach-in device 100 comprising: a mobile communication terminal 2 configured to control a control device 200 of a robot 300 with respect to a movement of the robot 300 by wireless communication based on teaching operation contents; and the terminal holding device 1 according to the supplementary note 2, wherein the mobile communication terminal 2 has a wireless power receiving unit 21 configured to receive electrical power wirelessly supplied from the wireless power transmitting unit 14 in the terminal holding device 1. (Supplementary Note 4)

[0077] The teach-in operation device 100 according to Supplementary Note 3, wherein the mobile communication terminal 2 has a battery 23 that stores electrical energy received by the wireless energy receiving unit 21, and Depending on the charge status of the battery 23, at least either electrical energy received by the wireless energy receiving unit 21 or electrical energy stored in the battery 23 is used as drive energy for the mobile communication terminal 2. (Supplementary Note 5)

[0078] The teach-in operation device 100 according to Supplementary Note 3, wherein electrical energy received by the wireless energy receiving unit 21 is used as driving energy for the mobile communication terminal 2. (Supplementary Note 6)

[0079] The teach-in operation device 100 according to one of the supplementary notes 3 to 5, wherein the mobile communication terminal 2 has a control unit 22 configured to execute a teaching software program for controlling the control device 200 such that the robot 300 moves to the robot 300 based on teaching operation contents. (Supplementary Note 7)

[0080] The teach-in operating device 100 according to one of the supplementary notes 3 to 6, wherein the mobile communication terminal 2 is either a tablet terminal or a smartphone. (Supplementary Note 8)

[0081] A robot control system 1000 comprising: a control unit 200 of a robot 300; and the teach-in device 100 according to one of the supplementary notes 3 to 7. LIST OF REFERENCE SYMBOLS 1 terminal holding device 2 Mobile communication device 11 Mounting base 12 safety switches 12-1 Release switch 12-2 Emergency stop button 13 Interface unit 14 Wireless energy transfer unit 15 Holding mechanism 21 Wireless energy receiving unit 22 Control unit 23 Battery 24 touch panel 25 Wireless communication unit 31 Electrical cable 31-1 Signal line 31-2 Power line 41 robot cables 100 teaching device 141 Energy transfer coil 142 Energy transfer resonant capacitor 200 control unit 211 Energy receiving coil 212 Energy receiving resonance capacitor 300 robots 1000 robot control system QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2002-154085A

[0005] JP 2015-006115A

[0005]

Claims

[1] Terminal holding device comprising: a mounting base to which a mobile communication terminal is attachably and detachably mounted, the communication terminal being configured to control a controller of a robot regarding a movement of the robot by wireless communication based on teaching operation contents; a safety switch configured to output a safety signal to the control unit; an interface unit configured to be connected to an electrical cable having a signal line configured to transmit the safety signal to the control unit and a power line configured to transmit electrical energy provided by the control unit; and a wireless power transmission unit configured to wirelessly supply a portion of the electrical power received from the control device through the power line in the electrical cable and the interface unit to the mobile communication terminal. [2] The terminal holding device according to claim 1, wherein the safety switch comprises: an enable switch configured to output, as the safety signal, an enable signal that allows control of a movement of the robot by the controller when pressed and prohibits control of a movement of the robot by the controller when released; and an emergency stop button configured to output, as the safety signal, an emergency stop signal which, when actuated, controls the controller to cause the robot to make an emergency stop. [3] Training device comprising: a mobile communication terminal configured to control a control device of a robot with respect to a movement of the robot by wireless communication based on teaching operation contents; and the terminal holding device according to claim 2, wherein the mobile communication terminal has a wireless power receiving unit configured to receive electrical power wirelessly supplied from the wireless power transmitting unit in the terminal holding device. [4] The learning operation device according to claim 3, wherein the mobile communication terminal has a battery configured to store electric power received by the wireless power receiving unit, and depending on the charge status of the battery, at least one of electric power received by the wireless power receiving unit and electric power stored in the battery is used as driving power for the mobile communication terminal. [5] The teaching operation device according to claim 3, wherein electric power received by the wireless power receiving unit is used as driving power for the mobile communication terminal. [6] The teaching operation device according to any one of claims 3 to 5, wherein the mobile communication terminal includes a control unit configured to execute a teaching software program for controlling the control unit such that the robot (300) moves to the robot based on teaching operation contents. [7] A learning operation device according to any one of claims 3 to 6, wherein the mobile communication terminal is either a tablet terminal or a smartphone. [8] Robot control system comprising: a control device of a robot; and the learning operating device according to one of claims 3 to 7.

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