Programmable hand tool

p0001The invention relates to a handheld programming device for programming an industrial robot.

p0002Industrial robots are manipulating machines, which are equipped for automatic handling of objects with useful tools in several axes of motion in particular with regard to orientation, position and process sequence programmable. Under method for programming the industrial robot (programming method) is defined as the systematic process for generating user programs.

p0003Programming method can be divided into direct, indirect and hybrid methods. Direct methods are also referred to as on-line method and indirect methods are also known as off-line process. Hybrid methods represent a combination of direct and indirect methods.

p0004The direct method, the so-called teach-in programming and play-back method counts.

p0005In the teach-in programming, in short: teach-in, the industrial robot is driven by a suitable device in the desired position and saved the position in a control of the industrial robot. This step is repeated until the entire desired movement of the industrial robot is described by approached space points. The result is a sequence of points in space, which leaves the industrial robot sequentially.

p0006Suitable devices for the teach-in programming include programming handsets with traversing, with a so-called space mouse, a joystick, or with a combination of keys and radförmigem regulator.

p0007The <patcit id="pcit0001" dnum="JP61151711A"><text>JP 61-151711 A</text></patcit> discloses a teach pendant with a tilt sensor, by a roll and pitch of the teach pendant is converted into a movement of each axis of the industrial robot.

p0008The <patcit id="pcit0002" dnum="WO9609918A"><text>WO 96/09918</text></patcit> discloses a control device comprising a manually movable control device with a transducer. The transducer is arranged to receive signals from multiple signal sources. The control device comprises detection means that detects the direction from Tranducer to the signal sources.

p0009The object of the present invention is to provide a programming pendant for programming an industrial robot, which is a hand made relatively simple and on the other hand allows a relatively simple operation for an operator.

p0010The object of the invention is achieved by a handheld programming device for programming an industrial robot, comprising a handle and a camera with an imaging optics, the camera is so at least indirectly articulated to the grip that the imaging optics of the camera regardless of the position of handle automatically aligns in space in the direction of gravity, and is at least indirectly articulated in such a way with the handle that with a rotation of the handle to a running in the direction of gravity first axis, the optics of the camera according to the rotation of the handle about the first axis rotates.

p0011The teach pendant invention is intended for the programming of an industrial robot, in particular in the context of a teach-in programming of the industrial robot. In the teach-in programming, in short: teach-in, the industrial robot or a predetermined point of the industrial robot by means of a teach pendant is at least partially driven into the desired position and / or orientation in space and this is stored in a control of the industrial robot.

p0012The programmer of the invention comprises the handle, to take an operator with one hand and thus can cause the teach pendant. Furthermore teach pendant to the invention comprises the camera whose imaging optics automatically aligns itself independently of the position of the handle in the room in the direction of gravity. The camera can be positioned relative to the handle, that their appearance is always oriented toward the bottom or toward a blanket, so images can take up from the floor or the ceiling. This makes the camera always reliably orients towards gravity whose focus can be designed relatively low compared to the control. The camera may be in particular a digital camera, such as a web cam.

p0013The camera of the teach pendant invention is at least indirectly pivotally connected such with the handle that with a rotation of the handle to a running in the direction of gravity first axis rotates the optics of the camera according to the rotation of the handle about the first axis. The first axis in the direction of gravity, in the direction of which the optics of the camera according to the invention irrespective of the position of the handle in the room automatically aligns. Upon rotation of the handle about the first axis, the camera, or their optics also rotates about the first axis. The teach pendant invention can then be carried out in particular such that it perpendicularly a first angle which is associated with a rotation of the handle about the first axis is calculated from the first axis, due to the camera's images of a plane. The term "photo" is intended to include associated in this context, digital pictures or images image datasets.

p0014The teach pendant invention is particularly intended for the teach-in programming of the industrial robot, which may have a predetermined point in particular, the orientation of which is adjustable during programming of the industrial robot at least partially in the space by moving the handle of the teach pendant. The orientation of this predetermined point, which may be, for example, the so-called tool center point (TCP) or the flange of the industrial robot, generally has three degrees of freedom in space. A partial orientation of this point can be described by a rotation of this point with respect to the running in the direction of the gravity axis which is commonly referred to as the z-axis. The z-axis corresponds to the first axis of the teach pendant, so that it can cooperate with the industrial robot in such a manner that rotates the predetermined point of the industrial robot with the rotation of the handle of the teach pendant unit according to the rotation of the handle about the z-axis. In particular, handheld programming device according to the invention can be designed such that the predetermined point rotates about the z-axis by the same first angle at which the handle of the teach pendant is rotated about the first axis. The first angle can be calculated, for example directly to the teach pendant, for example by means of a computing device of the teach pendant. But it is also possible that, for example, a control computer of the industrial robot calculates the first angle due to the images produced by the camera and the industrial robot correspondingly drives that the predetermined point to rotate around the axis in the direction of gravity corresponding to the first angle.

p0015For a relatively reliable calculation of the first angle a to the first axis aligned at right angles plane may be provided with markers, calculated with the aid of which device the first angle. If the optics of the camera towards the bottom aligned, these markers can be applied relatively easily in this soil.

p0016The markers or labels may be, for example mounted on horizontal planes within a working range of the industrial robot, wherein the labels (markers), for example, show in a predetermined axis of a coordinate system that is associated with the base of the industrial robot. Characterized in that the camera is always oriented relative to the handle according to the invention due to their orientation in this plane, conditions for a relatively simple evaluation of the images produced by the camera are given, whereby the first angle in a relatively simple manner can be computed.

p0017The markers or markers may be, for example, trend-setting adhesive strips that are mounted on the floor, on a workpiece carrier or on a workpiece. The marker or markers may be part of a pioneering carpet or trendsetting rubber mats especially in different sizes. Suitable labels can also trendsetting aluminum flakes as with aufeloxierten Märker, which are attached to horizontal planes, be.

p0018But it can also be used a portable marker device having a perpendicular to gravity cantilevered and provided with markers plate. The portable marker device may comprise a parallelogram mechanism, in particular to bring the plate relatively quickly in the desired position where manual programming unit of the invention is to be used.

p0019The markers, in particular markers of the portable device may be, for example, aligned in the direction of a predetermined axis of the base point of the industrial robot assigned coordinate system. This axis can, for example by means of a laser beam of a laser line, which is mounted on the stationary base of the industrial robot, are displayed to the operator. The markers can then be aligned parallel to the laser beam.

p0020The first angle can also be calculated based on the images produced by the camera when a picture of the floor, standing on the example of the industrial robots, is available. Will teach pendant to the invention moves near the industrial robot, then at least partial images are generated from the ground with the camera, which can be compared with the pre-acquired ground near the industrial robot. Based on the comparison results in a relative orientation of the camera to the ground, whereby the first angle can be calculated. The image of the ground near the industrial robot can be, for example, create the following:<ul><li>The teach pendant invention or another camera is mounted as the flange of the industrial robot. Will teach pendant to the invention is used, the camera is automatically toward the floor (or ceiling, depending on the embodiment) aligned. If the further camera are used, they will be aligned such that their optic is aligned in the direction of gravity and taking pictures of the bottom.</li></ul>

p0021Then, the flange of the industrial robot is such a process that is essentially the working area of ​​the industrial robot for later teach-in programming is covered. The workspace can be particularly worn meandering. During the procedure, partial images are taken from the top view of the workspace. For the individual images by the camera, the industrial robot stops momentarily.

p0022The partial images are then combined into an overall image (overall plan view of the work area) and, for example, stored in the control computer of the industrial robot. The location of the overall picture concerning the robot coordinate system is known due to the defined orientation of the camera during field recording.

p0023It can also be provided to use a (CAD) model of a processing cell in which the robot is positioned. The CAD model is for example stored in the control computer of the industrial robot and may comprise all the components of processing cell. In the teach-in programming, created with the camera of the teach pendant inventive images are compared, for example, by means of image processing methods with the stored CAD model. Based on this comparison, the first angle may then also be determined.

p0024According to a variant of the teach pendant invention this has at least a second axis and is independent of the second axis third axis with respect to which the camera is at least indirectly articulated to the handle. The second axis may be aligned at right angles to the first and third axis according to an embodiment of the teach pendant unit according to the invention.

p0025As already explained above, the orientation of the predetermined point of the industrial robot comprises three degrees of freedom. To describe the orientation in space, the method Roll, Pitch, Yaw (roll, pitch, yaw) can for example be applied from the aviation and shipping. Is the so-called Euler-convention used, which rotations are carried out in succession to the axes of the new coordinate system, wherein the order of the rotations must be specified. Is for example described in Cartesian coordinates Z-axis of the yaw angle, the Y-axis, the pitch angle and the X-axis of the roll angle associated and the sequence Z-axis, Y-axis and X-axis is used, is then carried out initially for the determination of the orientation of the predetermined point of the industrial robot, a rotation about the Z-axis by a yaw angle, then a rotation about a pitch angle about the Y-axis of said resulting from the rotation about the Z-axis new coordinate system and then a rotation about a roll angle about the X axis of the turn formed around the Y axis due to the rotation of the new coordinate system.

p0026The rotation about the Z-axis is also called "yaw", rotation about the Y-axis is called "pitch" and rotation about the X-axis is also referred to as "rolling".

p0027Because of the orientation of the first axis of the teach pendant unit according to the invention in the direction of gravity corresponds to the first angle to the yaw angle. By properly aligning the second and third axis of one of these axes can be the roll and the other axis assigned to the pitch angle. Thus, it is possible to adjust the pitch and roll angle of the predetermined point of the industrial robot due to a rotation of the teach pendant unit according to the invention, the second and third axes. In order to avoid an overshoot of the second and third axles upon movement of the teach pendant unit according to the invention or at least reduce, these axes can be performed attenuated.

p0028In this variant of the teach pendant invention, the first angle associated yaw angles are determined by means of recorded images from the camera.

p0029The handheld programming device according to the invention, a first angle measuring device for measuring a second angle of the second axis that the camera takes up relative to the handle upon rotation of the camera relative to the second axis, and / or a second angle measuring device for measuring a third angle of the third axis, to the camera occupies relative to the handle upon rotation of the camera relative to the third axis, having. Suitable angle measuring devices are, for example built in the second and third axes potentiometers or angle sensors or accelerometers. Due to the signals generated by the two angle measuring devices, for example, the roll and pitch angle of the predetermined point of the industrial robot can be adjusted mittesl of the teach pendant unit according to the invention.

p0030When the pitch angle is at an angle of 90 °, then yaw and roll rotations are identical, ie, then the roll angle of the axis assigned to teach pendant invention proceeds in the first axis. To avoid ambiguity, handheld programming device according to the invention may be implemented such that the the roll angle associated with the axis of the teach pendant is mechanically blocked when it reaches a minimum angle of eg 85 °.

p0031The teach pendant invention may include a wireless transmitter for transmitting signals generated by the teach pendant. Then it is possible that these signals having, for example, information about the first, second or third angle, be wirelessly transmitted to the control computer of the industrial robot so that it adjusts the orientation of the predetermined point accordingly. The signals may also comprise the captured with the camera or those derived from the angle-measuring devices signals to the control computer for example can compute the first angle.

p0032The signals include video signals and can be exchanged over a wireless channel to the control computer. The signals can be combined in the teach pendant invention. However, it is also conceivable that one available on the market wireless webcam a private communication channel to the robot controller features, while the other input-output information received another wireless channel.

p0033Depending on the embodiment can be set using the teaching pendant according to the invention a part of orientation, for example, a rotation of the predefined point of the industrial robot around the gravity along the axis running, or the entire orientation of this point.

p0034To at least partially able to adjust the position of the predetermined point of the industrial robot in space with the teach pendant invention, this may have for a variant input means for moving the predetermined point of the industrial robot. The input means may in particular be one-dimensional input means, which allow a movement direction of the predetermined point in one dimension or two-dimensional input means, which allow a movement direction of the predetermined point in two dimension. Suitable two-dimensional input means are, for example, joystick, touchpad, trackball, four traversing or two knurled wheels. The input means may also be multi-dimensional input means, such as a joystick or mouse 6D.

p0035By two-dimensional input means the operator can process the predetermined point of the industrial robot freely within a plane or at least in two directions defined. Thereby, it is possible to simplify the operation, because not every position in the room to the human wrist is pleasant. In addition to the direction of travel, it is also possible to set the speed on the deflection suitable Verfahrelemente.

p0036The teach pendant invention can besides Verfahreingabemöglichkeit more input and / or output capabilities have, such as an override setting, a travel modes or a so-called Touchup.

p0037The combination of industrial robots and inventive programming pendant can also be designed such that the position of the teach pendant is relative to the level from which the pictures were taken, calculated based on the captured images and set based the position of the predetermined point of the industrial robot to the calculated position becomes. Then also with the programming pendant invention not only the orientation (or a part of orientation) of the predetermined point of the industrial robot can be set, but also its position (or a part of position).

p0038The teach pendant invention can therefore also be used in addition to the adjustment of the orientation, in addition to determine its own position in space (6D Tracking System). This can be teached to the teach pendant invention a point in space.

p0039The teach pendant invention can also be used with the help of another mounted camera for augmented reality applications.

p0040If the marker is used, the position of the teach pendant invention can be determined, for example, by the markers are carried out not only the direction of defining, but also determining position. These markers will be placed on horizontal planes such as the working area, for example on the ground. The operator defines the process by which they want to operate the industrial robot by means of the teach pendant invention. On these horizontal planes of the workspace, eg soil or workpiece holder, trendsetting and unique for the positioning markers are attached. When using a wide-angle camera for the teach pendant invention the number of markers is relatively small and the distance between the markers can be selected according to size.

p0041Each marker should be unique and it should indicate the exact position and orientation of each marker must be known. For calibration and placement of the marker with respect to the industrial robot, the following procedure can be used:<ul><li>On industrial robot, a laser distance sensor is mounted, whose position is known with respect to the industrial robot. The laser distance sensor may for example be attached to the flange of the industrial robot. The industrial robot is now as long as by means of the invention teach pendant Hand procedures until the laser beam of the laser distance sensor, a location in the workspace applies where a marker is to be attached. Here, a marker is placed so that the laser beam strikes an excellent location of the marker. the position of the marker can be determined with the measured distance information and the position of the industrial robot.</li></ul>

p0042The orientation of the marker can for example be indicated by a purely translational movement of the industrial robot in a defined direction, eg X-direction (horizontal) of Roboterfußpunktkoordinatensystem. The laser spot of the laser distance sensor moves on marker level also in this X-direction. The marker will be oriented accordingly.

p0043The robot can also be oriented so that the attached laser distance sensor is aligned in the direction of gravity (direction of gravity). The industrial robot can now also long translationally hand methods without the orientation change to until a desired site is marked by the laser distance sensor in the workspace. With this procedure, the orientation of the label on a laser line can be displayed. The position of the line laser with respect to the industrial robot must be known. The aligned in the direction of gravity line laser draws a line in the desired location. Using the dot and line marking of the laser marker can be accurately aligned.

p0044The method described above is also applicable so that the indicators in the work area be placed anywhere and then their position is determined by means of laser and by hand methods of the industrial robot.

p0045The laser distance sensor measures the Z-distance (distance with respect to the axis in the direction of gravity) of the marker from the laser distance sensor origin. The other coordinate (X, Y, for the position and A, B, C for the orientation) can be determined from position sensors of the control computer of the industrial robot in connection with the known laser distance sensor origin.

p0046For calibration or placement of the markers relative to the industrial robot and the following method may be applied:<ul><li>It is attached to a camera on the robot, for example, at its flange or hand and oriented on the robot position in the direction of gravity. It can also teach pendant to the invention are used, whereby the camera automatically in the direction of gravity (gravitational direction) is aligned. The teach pendant invention can, for example, the flange, and the hand, or an arm of the industrial robot are attached.</li></ul>

p0047In this approach, all degrees of freedom of the industrial robot to the orientation of the camera in the direction of gravity are not needed, so the camera can also be attached to the structure, for example the axis 3 (arm).

p0048At the desired locations in the workspace then unique markers are attached. The orientation of each marker is not important, as they are captured by the camera. The camera is now positioned without changing the orientation by moving the robot translational hand that there is a marker in the camera field of view. The vertical direction the camera on the relevant markers, the position and orientation determination is relatively simple and relatively accurate because if so, then only relatively small perspective distortions of the camera must be calculated.

p0049In the control device of the industrial robot, at each uniquely identifiable marker, the measured position (and also the orientation by using the second camera) relative to the robot coordinate system is saved. This measurement procedure is repeated for the remaining markers.

p0050Later, the measured markers can be used to determine the position and orientation of the teach pendant unit according to the invention. The aligned in the direction of gravity camera guided by the operator teach pendant must therefor a marker in the field have. First, the marker type is identified and the corresponding saved marker position and orientation will be loaded. With the help of the camera image is then also with standard image processing method the frame "marker teach pendant" calculated. From the stored marker frame (position and orientation) and the calculated frame "marker teach pendant", the position of the teach pendant with respect to the robot coordinate system are determined.

p0051The teach pendant invention can be generally used for programming the industrial robot. The teach pendant invention can especially be used for programming the industrial robot according to the following procedure, according to the first programming pendant to the invention is in the area corresponding to a desired orientation, which is to take a to be determined coordinate system, oriented, the current orientation of the teach pendant as desired orientation of the coordinate system by actuate a locking means in particular of the teach pendant, is locked, so that the orientation of the coordinate system remains unchanged in a further movement of the teach pendant unit according to the invention, and the predetermined points is moved in at least one defined in the desired coordinate system direction or orientation by actuating the input means of the teach pendant unit.

p0052The locking means may for example be a button or a push-button and / or may be part of the teach pendant unit according to the invention. Thus, it becomes easier for the operator, the predetermined point with respect to at least one predetermined or predeterminable by means of the teach pendant axis to move by operating the input means independent of an orientation of the teach pendant unit in the room, after the desired orientation of the coordinate system is locked.

p0053Now if subsequently changed, for example the position of the predetermined point by means of the teach pendant, then for example, the teach pendant in one for the operator relatively pleasant, or at least in comparison with the position in which the teach pendant is aligned at the time of locking, pleasant position be brought, without changing the orientation of the coordinate system.

p0054The orientation in space of the teach pendant can be described by coordinates of the teach pendant associated handset coordinate system that is matched to a robot coordinate system of the industrial robot. The handset coordinate system and the robot coordinate system may be Cartesian coordinate systems in particular.

p0055If it is at the predetermined point to the tool center point, then the handset coordinate system can be matched to the robot coordinate system of the industrial robot such that at least one of the coordinate axes of the handheld device coordinate system coincides with one of the coordinate axes of the tool coordinate system. However, it also match all coordinate axes of the coordinate system with handset corresponding coordinate axes of the tool coordinate system.

p0056The coincident coordinate axes of the coordinate system handset and the tool coordinate system may coincide with the longitudinal axis of the teach pendant and / or can show in tool thrust of the tool. Then the tool thrust and orientation of the teach pendant match along its longitudinal axis when setting the desired orientation with the longitudinal axis of the teach pendant.

p0057The predetermined point may be moved along exactly a predetermined or predeterminable by the teach pendant axis after locking the desired orientation of the coordinate system by pressing the input means. Thus, initially in relatively simple manner, the desired orientation of the coordinate system can be set and then moved the position of the predetermined point along the axis (travel axis) by operating the input means of the teach pendant. For the process of the teach pendant can be arbitrarily moved or placed in any position, without changing the orientation of the coordinate system.

p0058The traveling axis can be defined, for example by aligning the longitudinal axis of the teach pendant in particular at the time of locking the desired orientation of the coordinate system or show in tool thrust of attached to the industrial robot tool especially at the time of locking the desired orientation of the coordinate system. In the second case, the predetermined point is thus moved in the direction of the tool penetration point. The traveling axis can also be defined by the orientation of a coordinate axis of the handset coordinate system or the tool coordinate system, for example, at the time of locking the desired orientation of the coordinate system. The traveling axis can also be defined otherwise, for example by aligning the teach pendant, for example, after locking or before adjusting the orientation of the coordinate system.

p0059The set point can also be moved along exactly one traversing plane by operating the input means, said traversing plane defined by two predetermined or particular through the teach pendant predetermined axis after locking the desired orientation of the coordinate system. Thus, the desired orientation of the coordinate system may first be adjusted and then the position of the predetermined point to be set within the traversing plane by operating the input means in a relatively simple manner. The traversing plane is as defined by the alignment of the longitudinal axis of the teach pendant, the tool thrust of attached to the industrial robot tool, the orientation of two coordinate axes of the handset coordinate system or by the orientation of two coordinate axes of the tool coordinate system, particularly at the time of locking the desired orientation of the coordinate system. The traversing plane is defined according to this embodiment, for example, at the time of locking, or at a different time, in particular after locking, for example by aligning the teach pendant.

p0060Also, a rotation axis by orientation of the teach pendant in space after the locking of the desired orientation of the coordinate system can be defined. Then, the predetermined point about the rotation axis by operating the input means of the teach pendant can be turned. The axis of rotation can in particular extend through the predetermined point. Thus, it is eg possible to first adjust a relatively coarse orientation of the predetermined point by orienting the teach pendant. After locking the orientation, can occur a certain re-orientation by rotation of the predetermined point about the rotation axis. For the rotation of the teach pendant can be arbitrarily moved or aligned, as after locking the orientation of the coordinate system is not changed by the position of the teach pendant. The axis of rotation may be, for example, the longitudinal axis or one of the coordinate axes of the handheld device coordinate system. However, the rotation axis can also be defined in any other manner.

p0061It can also by orienting the teach pendant in space after the locking of the desired orientation of the coordinate system, the axis can be defined, with respect to which is moved the predetermined point by operating the input means of the teach pendant unit, which axis passes through the predetermined point. Then, the predetermined point may be re-oriented by operating the programming of the handset so that it points in the direction of the axis. The predetermined point may be reoriented in particular in the direction of this axis until it is aligned either in the direction of this axis or as long as the second input means are operated.

p0062The speed of Umorientierens can be adjusted from the teach pendant operator, also. In addition to the Umorientierungsrichtung this person can vary the degree of deflection of specific input elements, the speed. Apart from a continuous Umorientierungsbewegung can also be a gradual movement commands. The tool axis shock may be, then each pressing operation, move eg by pressing a key by a predetermined selectable angle value in the defined direction.

p0063The orientation of the predetermined point can be traced during movement of the teach pendant unit according to the orientation of the teach pendant in the space before reaching and locking the desired orientation of the coordinate system. but it is also possible that first the handheld programming device is oriented in space according to the desired orientation of the coordinate system in space, without a tracking of the orientation of the predetermined point. Another input means in particular of the teach pendant is then actuated, if the teach pendant is aligned according to the desired orientation. The robot axes are then moved in such a way that the predetermined point corresponding to the orientation of the teach pendant is oriented at the time of actuating the further input means and the desired orientation of the predetermined point is locked by operating the locking means, so that the orientation of the predetermined point during a movement of the teach pendant remains unchanged.

p0064Embodiments of the invention are depicted in the appended schematic drawings. Show it:<dl id="dl0001"><dt>Fig. 1</dt><dd>an industrial robot,</dd><dt>Figs. 2-4</dt><dd>different views and positions of a programming device,</dd><dt>Fig. 5</dt><dd>a coordinate system,</dd><dt>Fig. 6</dt><dd>the teach pendant in partial cross section,</dd><dt>Fig. 7</dt><dd>a picture,</dd><dt>Figs. 8, 9</dt><dd>Marker device.</dd></dl>

p0065The <figref idrefs="f0001">Fig. 1</figref> shows an industrial robot 1 with kinematics for movements in six degrees of freedom, for example. The industrial robot 1 has joints 2 to 4, lever 5, 6, six movement axes A1 to A6, and a flange 7 in a generally known manner.

p0066Each of the movement axes A1 to A6 is moved by a drive not shown in detail. The drives include, for example, in each case an electric motor and transmission, as is known to those skilled.

p0067The industrial robot 1 also has a control computer 8, which is connected to the drives of the industrial robot 1 in a manner not shown and controls in a generally known manner by means of an application running on the control computer 8 computer program, so that the flange 7 of the industrial robot 1 performs a predetermined movement , To create the industrial robot 1 controlling computer program is a case in the present embodiment in the<figref idrefs="f0002 f0003 f0004">Figures 2 to 4</figref> illustrated specifically teach pendant PHG used.

p0068In the case of the present embodiment, the programming unit PHG on a trained as a handle 21 first device part, designed as a corner element 22 second device part, a third device part 23 and a camera 24th The camera 24 is, for example, a digital camera, for example in the form of a web cam and the third apparatus part 23 is in the exemplary embodiment of a housing for the camera 24 is, in which the camera 24 is positioned and oriented such that its imaging optics 25 images can take along an axis B1.

p0069In the case of the present embodiment, the third device part 23 is fixed by means of a hinge 26 pivotable relative to an axis of inclination angle on B2 element 22nd Further, the third device part 23 is performed such that the tilt axis and the axis B2 B1 are always oriented perpendicular to each other.

p0070In the case of the present embodiment is the angle element 22 supported by a pivot bearing with respect to an axis of rotation B3 not shown rotatably mounted on the handle 21st Here, the axis of rotation B3 and the tilt axis B2 are in the case of the present embodiment aligned perpendicular to one another and one of the two ends of the angular element 22 is in an elongated extension having handle 22 is inserted such that the axis of rotation B3 with the longitudinal axis of the handle not shown in detail 21 matches.

p0071Due to the turn and tilt axes B2, B3, and the force acting on the camera 24 and its housing in the form of the third apparatus part 23 gravity the third apparatus part 23 is directed by the camera 24 about the tilt axis B2 and about the axis of rotation B3 always automatically so made, that the axis B1 extends in the direction of gravity. Thus, the lens 25 of the camera 24 is also always oriented in the direction of gravity, so that always the camera 24 in the case of the present embodiment in particular, can take pictures from the ground. The teach pendant PHG can also be designed such that the lens 25 of the camera 24 is always oriented upwards in the direction of gravity.

p0072Further, the joint 26 and the pivot bearing are damped in the case of the present embodiment, to overshoot the turn and tilt axes B2, B3 avoid PHG upon movement of the teach pendant or at least reduce.

p0073Due to the curvature of the angular element 22 is obtained in the case of the present embodiment, a relatively low center of gravity of the camera 24 relative to the handle 21, which can support a reliable alignment of the camera 24 along the gravity.

p0074The <figref idrefs="f0002 f0003 f0004">Figures 2 to 4</figref> Show the teach pendant PHG for different positions of the handle 21 in the room. As the<figref idrefs="f0002 f0003 f0004">Figures 2 to 4</figref> It is apparent from the axis B1 is always oriented in the direction of gravity due to the joint 26, the pivot bearing and the gravity.

p0075As in the <figref idrefs="f0004">Fig. 4</figref> can be seen, it is possible that the axis B1 and the axis of rotation B3 can aufeinahnderfallen. So that this can be prevented, the teach pendant can be designed PHG mechanically such that the hinge 26 is provided with a mechanical locking, so that the axis of rotation B3 has just moved into a maximum angle to a horizontal plane extending. This maximum angle is 85 ° for example.

p0076The teach pendant PHG is particularly intended to adjust the orientation of the flange 7 of the industrial robot. 1 For this, in the case of the present embodiment is possible, the teach pendant PHG 9 of the controller 8 is adapted to the control computer 8 a disposed in the handle 21 transmitter 27 and a receiver to communicate wirelessly. The transmitter 27 is in the<figref idrefs="f0006">figure 6</figref> , which shows the teach pendant PHG in a partially sectioned illustration.

p0077In the case of the present embodiment, the orientation of the flange 7 three degrees of freedom, the method Roll, Pitch, Yaw (roll, pitch, yaw) of the aviation and shipping, it is used to describe the orientation in space used and it is the so-called Euler -Convention used. The base coordinate system of the industrial robot has in the case of the present embodiment, the Cartesian coordinates X, Y, Z, wherein the Z-axis is oriented in the direction of gravity. The base coordinate system is in the<figref idrefs="f0005">figure 5</figref> shown.

p0078In order to determine the orientation of the flange 7 in space, three rotations are sequentially performed around the axes due to the respective rotational resulting new coordinate systems, where described in the Cartesian coordinates, in the case of the present embodiment Z-axis of the yaw angle, the Y-axis the pitch angle and the X-axis of the roll angle is assigned and the sequence Z-axis, Y-axis and X-axis is used. Then, first of all for the determination of the orientation of the flange 7 of the industrial robot 1 is a rotation about the Z-axis by a yaw angle 51, then rotation about a pitch angle of 52 about the Y 'axis of the rotation about the Z axis emerging new coordinate system and then a rotation about a roll angle 53 about the X 'axis of the turn formed around the Y' axis due to rotation of the new coordinate system (see<figref idrefs="f0005">figure 5</figref>).

p0079The rotation about the Z-axis is also called "yaw", rotation about the Y 'axis is also called "pitch" and rotation about the X' axis is also referred to as "rolling".

p0080In the case of the present embodiment, the yaw angle 51 results due to rotation of the teach pendant PHG about its axis B1, for example, in the direction of a in <figref idrefs="f0002">figure 2</figref> shown arrow 51a.

p0081Correspondence for the flange 7 yaw angles 51 arises in the case of the present embodiment due to the camera's 24 images.

p0082To calculate the yaw angle 51, in the case of the present embodiment in the <figref idrefs="f0001">figures 1</figref> and <figref idrefs="f0002">2</figref> Marker 10 shown on the floor on which the industrial robot 1 is attached. In the case of the present embodiment, the markers 10 are designed arrow-shaped and pointing in the direction of X-axis of the base coordinate system of the industrial robot 1. Further, a marker 10a mounted on a parallel to the ground surface of a workpiece 11, also aligned in the direction of the X-axis is.

p0083a not illustrated in the figures operator with the manual programming unit PHG is in working space of the industrial robot 1, so the camera takes 24 pictures from the ground. One of the pictures 70's<figref idrefs="f0007">figure 7</figref> exemplified. Since the camera 24 is aligned in the direction of gravity, the images comprise images 10b of the 70 arranged on the floor or on the workpiece 11 marker 10, 10a. Since the markers 10, 10a are aligned in the direction of X-axis of the base coordinate system of the industrial robot 1, run the images 10b of the marker 10, 10a in Figure 70 in the direction of arrows 71. Due to the orientations of the images 10b of the marker 10, 10a along the arrows 71, it is possible by means of image processing of the image 70 and an image 70 of the associated image data set, 51 to calculate the yaw angle, for example with respect to a predetermined direction of an arrow arrow 72nd

p0084In the case of the present embodiment, it is provided that the teach pendant PHG the images 70 associated image data sets via the transmitter 27 transmitted to the control device 8, which changes the orientation of the flange 7 will calculate means of image processing of the image data sets the yaw angles 51 and accordingly by the engines of the industrial robot 1 are driven accordingly.

p0085Alternatively, it can also be provided that the teach pendant PHG a computing device 28, such as a microprocessor which, of the yaw angle 51 calculated and the control computer 8 transmits the calculated yaw angle based on the pictures 70th The camera 24 is connected to the computing device 28 and the transmitter 27 by means of a running inside the angle element 22 electrical line 29th It is also possible that the camera 24 has such as a transmitter, with which the image data sets can be transmitted to the control device eighth

p0086In the case of the present embodiment the teach pendant includes PHG two angle measuring devices, each having a potentiometer 30, 31st The potentiometer 30 interacts with the joint 26 and the potentiometer 31 cooperates with the rotary bearing. Depending on the position of the joint 26 and the rotary bearing have the potentiometers 30, 31 corresponding electrical resistances, which are processed either with the computing device 28 or by means of the control computer eighth Due to the electrical resistances can thus the rotation of the camera 24 relative to the pitch and roll axes B2, B3 with respect to arrows 52a, 53a are calculated.

p0087The potentiometers 30, 31 associated electrical resistors are a measure of the adjusted roll and pitch angles 52, 53 of the flange 7. In the case of the present embodiment can use a rotation of the teach pendant PHG regarding the tilt axis B2 in the direction of arrow 52a of pitch angle 52 of the axis of rotation B3 in the direction of arrow 53a of the roll angle is 53 set for the orientation of the flange 7 PHG respect to a rotation of the teach pendant.

p0088The <figref idrefs="f0008">Figures 8 and 9</figref> respectively show a portable marker device 80, 90 with a plate 81, 91, a parallelogram-mechanism 82, 92 and a stand 83, 93. By means of the parallelogram mechanisms 82, 92 it is possible, the plates 81, 91 to align horizontally , The upwardly facing surfaces of the plates 81, 91 are each provided with markers 84, 94th The marker 84 of the plate 81 are formed linearly and the marker 94 of the plate 91 are similar to the marker 10 carried.

p0089The marker devices 80, 90 may be used in conjunction with the handheld programming device PHG to adjust the orientation of the flange 7th For this, the operator can hold the teach pendant PHG on the plate 81, 91, so that the camera takes 24 images of the markers 81, 91st Due to image processing of these images associated image data sets based on the images of markers 81, 91 may then the yaw angle 51 in the images are calculated for the flange. 7

p0090To the marker devices 80, 90 align in such a way that, for example, the markers 81, 91 are aligned along the X-axis of the base coordinate system of the industrial robot 1 can be provided at the base of the industrial robot 1, an unillustrated laser whose laser beam in the direction of X axis of the base coordinate system points.

p0091The yaw angle 51 for the flange 7 can be adjusted PHG even without the use of the marker 10 to the teach pendant. So it is for example possible to provide an image of the ground or a portion of the soil available, then captured by the camera 24 images are compared with. Based on the comparison, the orientation of the camera 24 can be determined relative to this part of the soil, resulting in the adjusted yaw angles 51 can be determined.

p0092If the teach pendant PHG used near the industrial robot 1, then for example, the image of the relevant soil following are created:<ul><li>The teach pendant is attached PHG as the flange 7 of the industrial robot. 1 The camera 24 is then aligned to the ground.</li></ul>

p0093Then the flange 7 of the industrial robot 1 is in such a process that is essentially the working area of ​​the industrial robot 1 is recorded with the camera 24th The work area is as particular departed meandering. During the process, the camera takes 24 images part of the plan view of the work area, ie from the floor.

p0094For each frame of the industrial robot 1 is stopped short.

p0095The partial images are then combined into an overall picture of the soil and for example stored in the control computer 8 of the industrial robot. 1 The location of the overall image with respect to the base coordinate system is known based on the defined orientation of the camera 24 in the image pickup part.

p0096In the case of the present embodiment can be adjusted in the room with the teach pendant PHG also at least partly the position of the flange. 7 Given the teach pendant includes input means, in the case of the present embodiment four input keys T, with which the flange 7 in a plane by pressing the input key T can be moved.