WO2016062338A1 - A control unit comprising an antenna for wireless communication with a remote unit - Google Patents

A control unit comprising an antenna for wireless communication with a remote unit Download PDF

Info

Publication number
WO2016062338A1
WO2016062338A1 PCT/EP2014/072603 EP2014072603W WO2016062338A1 WO 2016062338 A1 WO2016062338 A1 WO 2016062338A1 EP 2014072603 W EP2014072603 W EP 2014072603W WO 2016062338 A1 WO2016062338 A1 WO 2016062338A1
Authority
WO
WIPO (PCT)
Prior art keywords
antenna
control unit
handle
cabinet
door
Prior art date
Application number
PCT/EP2014/072603
Other languages
French (fr)
Inventor
Mats TÖRNROS
Peter Sundberg
Henrik SVENSON
Jörgen MALMSÄTER
Original Assignee
Abb Technology Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Technology Ltd filed Critical Abb Technology Ltd
Priority to PCT/EP2014/072603 priority Critical patent/WO2016062338A1/en
Publication of WO2016062338A1 publication Critical patent/WO2016062338A1/en

Links

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/44—Details of, or arrangements associated with, antennas using equipment having another main function to serve additionally as an antenna, e.g. means for giving an antenna an aesthetic aspect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42247—Remote reference transmitted to servo

Definitions

  • a control unit comprising an antenna for wireless communication with a remote unit
  • the present invention relates to a control unit comprising control equipment for controlling a machine and an antenna for wireless communication with a remote unit.
  • the present invention relates in particular to a robot control unit.
  • the present invention also relates to other types of automation equipment and control equipment in general.
  • a control unit may communicate with a remote unit, for example, a server located at remote service center.
  • the remote service center provides remote service and supervises the machine.
  • the control unit and the remote unit must then communicate with each other.
  • the robot include a control unit comprising control equipment for controlling the robot and a cabinet encapsulating the control equipment. If the customer selects remote service of the robot, the control unit must be provided with a communication unit, often denoted a remote service box, and an antenna for wireless communication with the remoter service center. Today, the antenna is located on the roof of the cabinet of the control unit. If the customer does not select remote service of the robot, the control unit is not provided with the communication unit and the antenna. Thus, the customers must know whether they need a remote service box when they order a robot system. If the customers forget to order the remote service box (a separate option) and want to order it later, they have to order it from an after sales department. A problem with this is that it is rather complex to add the remote service box when the robot control unit is located in the field, due to problems to route the cables in the control unit.
  • US 8,326,461 discloses a system for providing autonomous capabilities to a radio controlled robot using communication boxes.
  • the antennas used for the communication between a control unit and the robot are positioned on top of the device and the robot.
  • US2013/0201651 discloses a cabinet for accommodating electronic components in an EMC safe manner.
  • the cabinet comprises electric components that are connected to tools used during operations.
  • the cabinet also comprises a fluid pump.
  • the pump is comprised in a separate box that can be fitted into an opening/enclosure present in the wall of the cabinet, whereby the casing forms a Faraday cage around the pump.
  • An antenna is used for wireless communication between the tools and the electronic components in the cabinet. This antenna is positioned in the wall of the cabinet inside the opening in which the pump can be positioned.
  • DE 102006057546 discloses a control unit adapted to control a machine, for example, a robot.
  • the communication between the control unit and the machine is accomplished by an antenna that is embedded in a keyboard that is attached to the controller. Communication is activated by pressing an 'antenna'-key on the keyboard.
  • the cabinet is provided with a handle arranged on the outside of the cabinet, and the antenna is arranged in the handle.
  • the antenna is disposed inside the handle. Thus, the antenna is protected by the handle and does not protrude from the cabinet. The antenna is invisible for the customer.
  • the antenna can be preinstalled in the handle of the control unit. Since the antenna is already present in the handle of the controller upon delivery of the robot controller, the customer doesn ' t need to add a loose antenna on the roof of the controller. Alternatively, a control unit positioned on site can later be upgraded by simply changing the handle of the cabinet to a new handle including an antenna.
  • a further advantage with the invention is that it is easy to change the antenna by only replacing the antenna inside the handle. For example, it is easy to upgrade the antenna by replacing the antenna inside the handle with another type of antenna, without any mechanical design changes. Further, the cover to the handle works as environmental protection.
  • the antenna is enclosed by or embedded in the handle.
  • the handle surrounds the antenna on at least five sides.
  • the antenna is positioned between a rear wall of the handle and the cabinet.
  • the antenna is, for example, a radio wave antenna.
  • the cabinet is often made of metal, which shields radio wave signals. By arranging the antenna in a handle on the outside of the cabinet, the radio wave signals are not shielded by the cabinet.
  • the handle comprises an accommodation for housing the antenna.
  • the handle is hollow and the antenna is arranged inside a cavity in the handle.
  • the handle comprises a base handle and the accommodation is attached to the base handle.
  • the handle has an inner surface facing said accommodation and the antenna is attached to the inner surface.
  • the inner surface may be an inner surface of a wall of the handle.
  • the handle may comprise a cover and the antenna is attached to an inner surface of the cover.
  • the antenna is attached to the inner surface by means of gluing.
  • the antenna comprises at least one cable
  • the cabinet comprises a cable entry hole for receiving the cable. The cable entry hole makes it possible to preinstall all cables from the antenna to the Remote Service box in the controller. This embodiment will make it easier for the customer to assemble a Remote service box out in the field. With the antenna provided in the handle and a cable entry hole in the cabinet, it becomes very easy for the customers to add the remote service box when they need it.
  • the cable entry hole is arranged beneath the handle.
  • the handle is arranged to cover the cable entry hole.
  • the cable entry hole is not visible from the outside of the casing. Further, the cable entry hole is protected by the handle from intrusion of dust.
  • control unit comprises a communication unit configured to communicate with the antenna and with the control equipment, the communication unit is arranged inside the cabinet, the handle is arranged on the outside of the cabinet, and said cable is arranged between the communication unit and the antenna via said cable entry hole.
  • the communication unit is configured to send radio wave signals to the antenna and to receive radio wave signals from the antenna.
  • the communication unit may comprise a transmitter transmitting signals to the antenna and a receiver receiving signals from the antenna.
  • the communication unit is, for example, a remote service box for a robot controller.
  • the communication unit is positioned at a distance less than 0.3 m, and more preferably less than 0.15-m from the cable entry hole in order to reduce the length of the cable and by that reduce the disturbances on the signals sent between the communication unit and the antenna.
  • the cabinet comprises a door for opening the cabinet having an outer side facing away from the cabinet and an inner side facing the control equipment, and said handle is attached to the outer side of the door.
  • the door allows access to the control equipment inside the cabinet. A certain amount of free space is needed in from of the door to allow the door to be opened.
  • the antenna is arranged on the roof of the cabinet.
  • the customer often puts other equipment or pieces on top of the cabinet. This will cause disturbance of the radio wave signals to and from the antenna.
  • obstacle may be positioned close to the side walls of the cabinet.
  • the communication unit is attached to the inner side of the door, and said cable entry hole is a through hole in the door.
  • the disturbances on the signals sent between the antenna and the communication unit are reduced and by that the quality of the signals are enhanced.
  • the communication unit can easily be attached to the inner side of the door on site after the control unit has been delivered. Reducing the cable length also reduced the cost for the cable.
  • the antenna and all cables to the communication unit are preinstalled in the cabinet of the control unit.
  • the remote service box can easily be mounted later after delivery of the control unit.
  • the remote unit is a remote service unit proving remote service on the control unit, and the control unit is configures to communicate with the remote service unit via said communication unit and the antenna.
  • control unit is a robot controller comprising control equipment for controlling a robot.
  • communication unit can be a remote service box.
  • the present invention makes it very easy for the customers to add the remote service box when they need it.
  • the antenna and the cable to the remote service box can be preinstalled in the cabinet of the controller. This will make it easier for the customer to assemble the remote service box out in the field.
  • Fig. 1 shows an example of a control unit comprising an antenna according to an embodiment of the invention.
  • Fig. 2 shows the control unit in figure 1 with the door opened.
  • Fig. 3 shows a perspective view of the handle including the antenna.
  • Fig. 4 shows an example of an antenna.
  • Fig. 5 shows a cross-section through the door of the control unit and the handle of the door according to a first embodiment of the invention.
  • Fig. 6 shows a cross-section through the door of the control unit and the handle of the door according to a second embodiment of the invention.
  • Figure 1 shows an example of control unit 1 comprising a cabinet 2 provided with a handle 3 and an antenna 4 arranged in the handle.
  • the cabinet can also be named a control cabinet.
  • the control unit is a robot control unit configured to control an industrial robot including a manipulator 5.
  • the invention is not limited to a robot control unit.
  • the invention is also suitable for control units comprising control equipment for controlling other types of machines needing wireless communication with a remote unit.
  • the remote unit is, for example, a remote service center providing remote service on the machine.
  • FIG. 2 shows the control unit 1 in more details.
  • the control unit 1 comprises control equipment 8 for controlling a machine.
  • the control unit is a robot controller comprising control equipment for controlling the manipulator of the robot.
  • the cabinet 2 encapsulates and protects the control equipment.
  • the cabinet is suitable made of metal.
  • the cabinet 2 includes a top part, a bottom part, a plurality of side walls, and a door 6 for opening the cabinet.
  • the door 6 door has an outer side 10 facing away from the cabinet and an inner side 12 facing the control equipment 8.
  • Figure 2 shows the control unit 1 with the door 6 opened.
  • the door 6 allows access to the control equipment 8 inside the cabinet.
  • the handle is attached to the outer side 10 of the door 6 as shown in figure 1.
  • the handle protrudes from the door and is designed so that a user can grab the handle and by that open the door.
  • the control unit comprises a communication unit 14 configured to communicate with the antenna 4 and with the control equipment 8.
  • the communication between the control unit and the remote unit is carried out via the communication unit and the antenna.
  • the communication unit 8 is arranged inside the cabinet 2, and the handle 3 is arranged on the outside of the cabinet.
  • the communication unit is attached to the inner side 12 of the door 6.
  • the antenna is a radio wave antenna.
  • the communication unit 14 is configured to send radio wave signals to the antenna and to receive radio wave signals from the antenna.
  • the communication unit 14 comprises a transmitter transmitting signals to the antenna and a receiver receiving signals from the antenna.
  • the communication unit 14 also communicates with the control equipment. For example, the communication unit transmits data and commands between the remote unit and the control equipment.
  • the communication unit 14 is, for example, a remote service box configured to communicate with a remote server located at a remote service center.
  • the service box gathers data about the robot and sends the data to the remote service center, and receives commands from the remote server regarding service actions on the robot.
  • At least one cable 16 is arranged between the communication unit 14 and the antenna 4.
  • the door 6 comprises a cable entry hole 18 for receiving the cable 16.
  • the cable entry hole 18 is a through hole in the door 6.
  • the cable entry hole 18 enables the cable 16 to penetrate through the door.
  • the cable 16 is arranged between the communication unit 14 and the antenna 4 via the cable entry hole.
  • the cable entry hole is located behind the handle 3 so that the handle covers the cable entry hole on the outer side of the door. Thus, the cable entry hole cannot be seen from the outside of the cabinet.
  • the communication unit is positioned close to the cable entry hole in order to reduce the length of the cable.
  • the communication unit 14 is positioned at a distance less than 0.3 m, and more preferably less than 0.15 m from the cable entry hole in order to reduce the length of the cable.
  • the door 6 is provided with further through holes 20 for receiving attachment members for attaching the handle 3 to the door.
  • Figure 3 shows a perspective view of the handle 3 including the antenna 4.
  • the antenna is located inside the handle.
  • the handle comprises a cover 24 forming an accommodation 25 for housing the antenna 4.
  • the cover 24 has an open side facing the door.
  • the cover is made of a material that allows the radio wave to penetrate through the cover without reducing the signal strength, for example a plastic material.
  • the handle can be a traditional handle for control cabinets on the market.
  • the demands on the handle is that it has a suitable accommodation for housing the antenna and is made of a material that does not shield the radio waves.
  • the antenna is thin, many handles on the market has a suitable accommodation. Thus, it is not necessary to use a specifically designed handle for the invention.
  • the antenna 4 is positioned in the accommodation 25 inside the cover 24 of the handle.
  • the antenna may be attached to an inner surface of the cover 24.
  • the antenna is attached to an inner surface of a rear wall 26 of the cover 24.
  • the antenna can be attached to another part inside the handle.
  • the antenna is attached to the cover by means of gluing. Due to the open side of the cover, the cable 16 can reach and penetrate through the cable entry hole 18.
  • the handle also comprises attachment members 28 for attaching the handle to the door.
  • the attachment members 28 are connected through the holes 20 of the door.
  • Figure 4 shows an example of an antenna 4.
  • the antenna is shaped as a strip, i.e. the antenna is elongated and has a height that is substantially less than the length and width of the antenna. Due to the strip shape of the antenna it is easy to fit the antenna into the handle.
  • the size of the antenna may vary and is limited due to the size of the handle. Suitably, the length of the antenna is less than 0.3 m.
  • the antenna is, for example, a radio wave antenna of PCB type.
  • a suitable antenna is, for example, a GSM/3G antenna of PCB type having a size of 83x 22mm, or a GSM/3G/4G-LTE/WiFi antenna having a size of 113x9mm.
  • the antenna 4 comprises a cable 16 and a socket 22 for connection to the communication unit 14.
  • the length of the cable should be as short as possible in order to reduce disturbances on the signals sent between the antenna 4 and the communication unit.
  • the length of the cable is less than 0.3 m, and more preferably the length of the cable is less than 0.15 m in order to reduce disturbances on the signals sent between the antenna 4 and the communication unit 14 and by that enhance the quality of the signals.
  • Figure 5 shows a cross-section through the door 6 of the control unit and the handle 3 of the door according to an embodiment of the invention.
  • the handle 3 is attached to and protruding from the outer side 10 of the door.
  • the communication unit 14 is attached to the inner side 12 of the door.
  • the cover 24 of the handle is attached to the door by means of the attachment members 28.
  • the antenna 4 is positioned in the accommodation 25 of the handle.
  • the cover and the door enclose the antenna.
  • the antenna is arranged between the door and the rear wall 26 of the cover. In this embodiment, the antenna 4 is attached to an inner surface 27 of the rear wall 26 of the cover 24.
  • the cable 16 from the antenna 4 is mounted through the cable entry hole 18 and connected to the communication unit 14.
  • Figure 6 shows a cross-section through the door of the control unit and the handle of the door according to another embodiment of the invention.
  • This embodiment differs from the previous embodiment in that the antenna is attached to the outer side 10 of the door 6.
  • the cover 24 and the door 6 enclose the antenna 4.
  • the handle can be of many different types and shapes.
  • the antenna can be arranged in many different ways inside the handle. How the antenna is positioned inside the handle depends on the design of the handle.
  • the handle may be positioned on the side walls or the top wall of the cabinet.

Abstract

The present invention relates to a control unit (1) comprising control equipment (8) for controlling a machine (5), an antenna (4) for wireless communication with a remote unit, a cabinet (2) encapsulating the control equipment and provided with a handle (3) arranged on the outside of the cabinet. According to the invention, the antenna is arranged in the handle.

Description

A control unit comprising an antenna for wireless communication with a remote unit
Field of the invention
The present invention relates to a control unit comprising control equipment for controlling a machine and an antenna for wireless communication with a remote unit.
The present invention relates in particular to a robot control unit. The present invention also relates to other types of automation equipment and control equipment in general.
Background of the invention
A control unit may communicate with a remote unit, for example, a server located at remote service center. The remote service center provides remote service and supervises the machine. The control unit and the remote unit must then communicate with each other.
Customers buying an industrial robot are often offered remote service as a separate option. The robot include a control unit comprising control equipment for controlling the robot and a cabinet encapsulating the control equipment. If the customer selects remote service of the robot, the control unit must be provided with a communication unit, often denoted a remote service box, and an antenna for wireless communication with the remoter service center. Today, the antenna is located on the roof of the cabinet of the control unit. If the customer does not select remote service of the robot, the control unit is not provided with the communication unit and the antenna. Thus, the customers must know whether they need a remote service box when they order a robot system. If the customers forget to order the remote service box (a separate option) and want to order it later, they have to order it from an after sales department. A problem with this is that it is rather complex to add the remote service box when the robot control unit is located in the field, due to problems to route the cables in the control unit.
US 8,326,461 discloses a system for providing autonomous capabilities to a radio controlled robot using communication boxes. The antennas used for the communication between a control unit and the robot are positioned on top of the device and the robot.
US2013/0201651 discloses a cabinet for accommodating electronic components in an EMC safe manner. The cabinet comprises electric components that are connected to tools used during operations. The cabinet also comprises a fluid pump. The pump is comprised in a separate box that can be fitted into an opening/enclosure present in the wall of the cabinet, whereby the casing forms a Faraday cage around the pump. An antenna is used for wireless communication between the tools and the electronic components in the cabinet. This antenna is positioned in the wall of the cabinet inside the opening in which the pump can be positioned.
DE 102006057546 discloses a control unit adapted to control a machine, for example, a robot. The communication between the control unit and the machine is accomplished by an antenna that is embedded in a keyboard that is attached to the controller. Communication is activated by pressing an 'antenna'-key on the keyboard.
Object and summary of the invention
It is an object of the present invention to at least partly overcome the above mentioned problem, and to provide an improved control unit including an antenna.
This object is achieved by a control unit as defined in claim 1.
According to the invention, the cabinet is provided with a handle arranged on the outside of the cabinet, and the antenna is arranged in the handle.
The antenna is disposed inside the handle. Thus, the antenna is protected by the handle and does not protrude from the cabinet. The antenna is invisible for the customer. The antenna can be preinstalled in the handle of the control unit. Since the antenna is already present in the handle of the controller upon delivery of the robot controller, the customer doesn't need to add a loose antenna on the roof of the controller. Alternatively, a control unit positioned on site can later be upgraded by simply changing the handle of the cabinet to a new handle including an antenna.
A further advantage with the invention is that it is easy to change the antenna by only replacing the antenna inside the handle. For example, it is easy to upgrade the antenna by replacing the antenna inside the handle with another type of antenna, without any mechanical design changes. Further, the cover to the handle works as environmental protection.
For example, the antenna is enclosed by or embedded in the handle. Preferably, the handle surrounds the antenna on at least five sides. Suitably, the antenna is positioned between a rear wall of the handle and the cabinet. The antenna is, for example, a radio wave antenna. The cabinet is often made of metal, which shields radio wave signals. By arranging the antenna in a handle on the outside of the cabinet, the radio wave signals are not shielded by the cabinet.
Suitably, the handle comprises an accommodation for housing the antenna. For example, the handle is hollow and the antenna is arranged inside a cavity in the handle. Alternatively, the handle comprises a base handle and the accommodation is attached to the base handle.
According to an embodiment of the invention, the handle has an inner surface facing said accommodation and the antenna is attached to the inner surface. The inner surface may be an inner surface of a wall of the handle. The handle may comprise a cover and the antenna is attached to an inner surface of the cover. For example, the antenna is attached to the inner surface by means of gluing. According to an embodiment of the invention, the antenna comprises at least one cable, and the cabinet comprises a cable entry hole for receiving the cable. The cable entry hole makes it possible to preinstall all cables from the antenna to the Remote Service box in the controller. This embodiment will make it easier for the customer to assemble a Remote service box out in the field. With the antenna provided in the handle and a cable entry hole in the cabinet, it becomes very easy for the customers to add the remote service box when they need it.
Preferably, the cable entry hole is arranged beneath the handle. Suitably, the handle is arranged to cover the cable entry hole. By that the cable entry hole is not visible from the outside of the casing. Further, the cable entry hole is protected by the handle from intrusion of dust.
According to an embodiment of the invention, the control unit comprises a communication unit configured to communicate with the antenna and with the control equipment, the communication unit is arranged inside the cabinet, the handle is arranged on the outside of the cabinet, and said cable is arranged between the communication unit and the antenna via said cable entry hole.
The communication unit is configured to send radio wave signals to the antenna and to receive radio wave signals from the antenna. The communication unit may comprise a transmitter transmitting signals to the antenna and a receiver receiving signals from the antenna. The communication unit is, for example, a remote service box for a robot controller.
According to an embodiment of the invention, the communication unit is positioned at a distance less than 0.3 m, and more preferably less than 0.15-m from the cable entry hole in order to reduce the length of the cable and by that reduce the disturbances on the signals sent between the communication unit and the antenna. According to an embodiment of the invention, the cabinet comprises a door for opening the cabinet having an outer side facing away from the cabinet and an inner side facing the control equipment, and said handle is attached to the outer side of the door. The door allows access to the control equipment inside the cabinet. A certain amount of free space is needed in from of the door to allow the door to be opened. By arranging the antenna on the door it is ensured that the antenna is free from obstacles that disturbs the radio waves emitted from or received by the antenna. In the prior art, the antenna is arranged on the roof of the cabinet. However, the customer often puts other equipment or pieces on top of the cabinet. This will cause disturbance of the radio wave signals to and from the antenna. In the same way, obstacle may be positioned close to the side walls of the cabinet. According to an embodiment of the invention, the communication unit is attached to the inner side of the door, and said cable entry hole is a through hole in the door. By arranging the communication unit on the inside of the door and the antenna on the outside of the door with a through hole in the door for the cable between the antenna and the communication unit, the length of the cable can be significantly reduced. By reducing the length of the cable between the antenna and the communication unit, the disturbances on the signals sent between the antenna and the communication unit are reduced and by that the quality of the signals are enhanced. Further, the communication unit can easily be attached to the inner side of the door on site after the control unit has been delivered. Reducing the cable length also reduced the cost for the cable.
Suitably, the antenna and all cables to the communication unit are preinstalled in the cabinet of the control unit. Thus, the remote service box can easily be mounted later after delivery of the control unit.
According to an embodiment of the invention, the remote unit is a remote service unit proving remote service on the control unit, and the control unit is configures to communicate with the remote service unit via said communication unit and the antenna.
According to an embodiment of the invention, the control unit is a robot controller comprising control equipment for controlling a robot. In this embodiment, the communication unit can be a remote service box.
The present invention makes it very easy for the customers to add the remote service box when they need it. The antenna and the cable to the remote service box can be preinstalled in the cabinet of the controller. This will make it easier for the customer to assemble the remote service box out in the field.
Brief description of the drawings
The invention will now be explained more closely by the description of different embodiments of the invention and with reference to the appended figures.
Fig. 1 shows an example of a control unit comprising an antenna according to an embodiment of the invention.
Fig. 2 shows the control unit in figure 1 with the door opened. Fig. 3 shows a perspective view of the handle including the antenna. Fig. 4 shows an example of an antenna.
Fig. 5 shows a cross-section through the door of the control unit and the handle of the door according to a first embodiment of the invention. Fig. 6 shows a cross-section through the door of the control unit and the handle of the door according to a second embodiment of the invention.
Detailed description of preferred embodiments of the invention
Figure 1 shows an example of control unit 1 comprising a cabinet 2 provided with a handle 3 and an antenna 4 arranged in the handle. The cabinet can also be named a control cabinet. In this example, the control unit is a robot control unit configured to control an industrial robot including a manipulator 5. However, the invention is not limited to a robot control unit. The invention is also suitable for control units comprising control equipment for controlling other types of machines needing wireless communication with a remote unit. The remote unit is, for example, a remote service center providing remote service on the machine.
Figure 2 shows the control unit 1 in more details. The control unit 1 comprises control equipment 8 for controlling a machine. In this example, the control unit is a robot controller comprising control equipment for controlling the manipulator of the robot. The cabinet 2 encapsulates and protects the control equipment. The cabinet is suitable made of metal. The cabinet 2 includes a top part, a bottom part, a plurality of side walls, and a door 6 for opening the cabinet. The door 6 door has an outer side 10 facing away from the cabinet and an inner side 12 facing the control equipment 8. Figure 2 shows the control unit 1 with the door 6 opened. The door 6 allows access to the control equipment 8 inside the cabinet. The handle is attached to the outer side 10 of the door 6 as shown in figure 1. The handle protrudes from the door and is designed so that a user can grab the handle and by that open the door.
The control unit comprises a communication unit 14 configured to communicate with the antenna 4 and with the control equipment 8. The communication between the control unit and the remote unit is carried out via the communication unit and the antenna. The communication unit 8 is arranged inside the cabinet 2, and the handle 3 is arranged on the outside of the cabinet. In this embodiment, the communication unit is attached to the inner side 12 of the door 6. In this embodiment, the antenna is a radio wave antenna. The communication unit 14 is configured to send radio wave signals to the antenna and to receive radio wave signals from the antenna. The communication unit 14 comprises a transmitter transmitting signals to the antenna and a receiver receiving signals from the antenna. The communication unit 14 also communicates with the control equipment. For example, the communication unit transmits data and commands between the remote unit and the control equipment. The communication unit 14 is, for example, a remote service box configured to communicate with a remote server located at a remote service center. For example, the service box gathers data about the robot and sends the data to the remote service center, and receives commands from the remote server regarding service actions on the robot.
At least one cable 16 is arranged between the communication unit 14 and the antenna 4. The door 6 comprises a cable entry hole 18 for receiving the cable 16. The cable entry hole 18 is a through hole in the door 6. The cable entry hole 18 enables the cable 16 to penetrate through the door. The cable 16 is arranged between the communication unit 14 and the antenna 4 via the cable entry hole. The cable entry hole is located behind the handle 3 so that the handle covers the cable entry hole on the outer side of the door. Thus, the cable entry hole cannot be seen from the outside of the cabinet. Preferably, the communication unit is positioned close to the cable entry hole in order to reduce the length of the cable. Preferably, the communication unit 14 is positioned at a distance less than 0.3 m, and more preferably less than 0.15 m from the cable entry hole in order to reduce the length of the cable. The door 6 is provided with further through holes 20 for receiving attachment members for attaching the handle 3 to the door.
Figure 3 shows a perspective view of the handle 3 including the antenna 4. The antenna is located inside the handle. The handle comprises a cover 24 forming an accommodation 25 for housing the antenna 4. The cover 24 has an open side facing the door. The cover is made of a material that allows the radio wave to penetrate through the cover without reducing the signal strength, for example a plastic material. The handle can be a traditional handle for control cabinets on the market. The demands on the handle is that it has a suitable accommodation for housing the antenna and is made of a material that does not shield the radio waves. However, since the antenna is thin, many handles on the market has a suitable accommodation. Thus, it is not necessary to use a specifically designed handle for the invention.
The antenna 4 is positioned in the accommodation 25 inside the cover 24 of the handle. The antenna may be attached to an inner surface of the cover 24. In this embodiment, the antenna is attached to an inner surface of a rear wall 26 of the cover 24. However, the antenna can be attached to another part inside the handle. For example, it is also possible to attach the antenna to the inner surface of one of the side walls of the cover. For example, the antenna is attached to the cover by means of gluing. Due to the open side of the cover, the cable 16 can reach and penetrate through the cable entry hole 18. The handle also comprises attachment members 28 for attaching the handle to the door. The attachment members 28 are connected through the holes 20 of the door.
Figure 4 shows an example of an antenna 4. The antenna is shaped as a strip, i.e. the antenna is elongated and has a height that is substantially less than the length and width of the antenna. Due to the strip shape of the antenna it is easy to fit the antenna into the handle. The size of the antenna may vary and is limited due to the size of the handle. Suitably, the length of the antenna is less than 0.3 m. The antenna is, for example, a radio wave antenna of PCB type. A suitable antenna is, for example, a GSM/3G antenna of PCB type having a size of 83x 22mm, or a GSM/3G/4G-LTE/WiFi antenna having a size of 113x9mm. The antenna 4 comprises a cable 16 and a socket 22 for connection to the communication unit 14. The length of the cable should be as short as possible in order to reduce disturbances on the signals sent between the antenna 4 and the communication unit. Preferably, the length of the cable is less than 0.3 m, and more preferably the length of the cable is less than 0.15 m in order to reduce disturbances on the signals sent between the antenna 4 and the communication unit 14 and by that enhance the quality of the signals.
Figure 5 shows a cross-section through the door 6 of the control unit and the handle 3 of the door according to an embodiment of the invention. The handle 3 is attached to and protruding from the outer side 10 of the door. The communication unit 14 is attached to the inner side 12 of the door. The cover 24 of the handle is attached to the door by means of the attachment members 28. The antenna 4 is positioned in the accommodation 25 of the handle. The cover and the door enclose the antenna. The antenna is arranged between the door and the rear wall 26 of the cover. In this embodiment, the antenna 4 is attached to an inner surface 27 of the rear wall 26 of the cover 24. The cable 16 from the antenna 4 is mounted through the cable entry hole 18 and connected to the communication unit 14.
Figure 6 shows a cross-section through the door of the control unit and the handle of the door according to another embodiment of the invention. This embodiment differs from the previous embodiment in that the antenna is attached to the outer side 10 of the door 6. The cover 24 and the door 6 enclose the antenna 4.
The present invention is not limited to the embodiments disclosed but may be varied and modified within the scope of the following claims. For example, the handle can be of many different types and shapes. Further, the antenna can be arranged in many different ways inside the handle. How the antenna is positioned inside the handle depends on the design of the handle. The handle may be positioned on the side walls or the top wall of the cabinet.

Claims

Claims
1. A control unit (1) comprising control equipment (8) for controlling a machine (5), an antenna (4) for wireless communication with a remote unit, a cabinet (2) encapsulating the control equipment and provided with a handle (3) arranged on the outside of the cabinet, characterized in that the antenna is arranged in the handle.
2. The control unit according to claim 1, wherein the handle (3) comprises an accommodation (25) for housing the antenna.
3. The control unit according to claim 1, wherein the handle (3) has an inner surface (27) facing said accommodation and the antenna is attached to said inner surface.
4. The control unit according to any of the previous claims, wherein the antenna (3) comprises a cable (16), and the cabinet (2) comprises a cable entry hole (18) for receiving said cable.
5. The control unit according to claim 4, wherein the handle (3) is arranged to cover said cable entry hole (18).
6. The control unit according to claim 4 or 5, wherein the control unit (1) comprises a communication unit (14) configured to communicate with the antenna (4) and with the control equipment (8), the communication unit is arranged inside the cabinet, and said cable (16) is arranged between the communication unit and the antenna (4) via said cable entry hole (18).
7. The control unit according to claim 6, wherein the communication unit (14) is positioned at a distance less than 0.3 m, and more preferably less than 0.15 m from the cable entry hole
(18).
8. The control unit according to claims 6 or 7, wherein the communication unit (14) comprises a transmitter transmitting signals to the antenna and a receiver receiving signals from the antenna.
9. The control unit according to any one of the previous claims, wherein the cabinet (2) comprises a door (6) for opening the cabinet having an outer side (12) facing away from the cabinet and an inner side (10) facing the control equipment (8), and said handle (3) is attached to the outer side of the door.
10. The control unit according to claim 6 and 9, wherein said communication unit (14) is attached to the inner side (10) of the door, and said cable entry hole (18) is a through hole in the door.
11. The control unit according to any of the previous claims, wherein the antenna (4) is a radio wave antenna.
12. The control unit according to claim 6, wherein the remote unit is a remote service unit proving remote service on the control unit, and the control unit (1) is configured to communicate with the remote service unit via said communication unit (14) and the antenna (4).
13. The control unit according to any of the previous claims, wherein the control unit (1) is a robot controller comprising control equipment (8) for controlling a robot.
PCT/EP2014/072603 2014-10-22 2014-10-22 A control unit comprising an antenna for wireless communication with a remote unit WO2016062338A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/072603 WO2016062338A1 (en) 2014-10-22 2014-10-22 A control unit comprising an antenna for wireless communication with a remote unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/072603 WO2016062338A1 (en) 2014-10-22 2014-10-22 A control unit comprising an antenna for wireless communication with a remote unit

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Publication Number Publication Date
WO2016062338A1 true WO2016062338A1 (en) 2016-04-28

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109591034A (en) * 2018-12-21 2019-04-09 遨博（北京）智能科技有限公司 A kind of control cabinet
RU191786U1 (en) * 2019-02-27 2019-08-21 Федеральное государственное бюджетное учреждение "16 Центральный научно-исследовательский испытательный ордена Красной Звезды институт имени маршала войск связи А.И. Белова" Министерства обороны Российской Федерации CABLE INPUT OF A MOBILE COMMUNICATION OBJECT
JP7317670B2 (en) 2019-10-31 2023-07-31 河村電器産業株式会社 Antenna built-in handle

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EP1006028A2 (en) * 1998-12-02 2000-06-07 Toyota Jidosha Kabushiki Kaisha Door handle for vehicle and smart entry system for vehicle using the same
EP1099407A2 (en) * 1999-11-11 2001-05-16 GE Medical Systems Information Technologies, Inc. Portable patient monitor with antenna integrated into handle
EP1716982A1 (en) * 2005-04-19 2006-11-02 COMAU S.p.A. Process for controlling industrial robots, and related robots, robot systems and computer programs
EP1795860A1 (en) * 2004-09-28 2007-06-13 Aisin Seiki Kabushiki Kaisha Antenna assembly and door handle unit
DE102006057546A1 (en) 2006-12-06 2008-01-31 Siemens Ag Operating device for operation of machine tool, production machine or robot, has membrane keyboard with integrated antenna, which is arranged at switching foil of membrane keyboard
US8326461B1 (en) 2008-06-19 2012-12-04 The United States Of America As Represented By The Secretary Of The Army Auxiliary communication system for radio controlled robots
DE102011080185A1 (en) * 2011-08-01 2013-02-07 BSH Bosch und Siemens Hausgeräte GmbH Home appliance with antenna
US20130201651A1 (en) 2012-02-02 2013-08-08 Aesculap Ag Housing for accommodating electric and electronic components

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1006028A2 (en) * 1998-12-02 2000-06-07 Toyota Jidosha Kabushiki Kaisha Door handle for vehicle and smart entry system for vehicle using the same
EP1099407A2 (en) * 1999-11-11 2001-05-16 GE Medical Systems Information Technologies, Inc. Portable patient monitor with antenna integrated into handle
EP1795860A1 (en) * 2004-09-28 2007-06-13 Aisin Seiki Kabushiki Kaisha Antenna assembly and door handle unit
EP1716982A1 (en) * 2005-04-19 2006-11-02 COMAU S.p.A. Process for controlling industrial robots, and related robots, robot systems and computer programs
DE102006057546A1 (en) 2006-12-06 2008-01-31 Siemens Ag Operating device for operation of machine tool, production machine or robot, has membrane keyboard with integrated antenna, which is arranged at switching foil of membrane keyboard
US8326461B1 (en) 2008-06-19 2012-12-04 The United States Of America As Represented By The Secretary Of The Army Auxiliary communication system for radio controlled robots
DE102011080185A1 (en) * 2011-08-01 2013-02-07 BSH Bosch und Siemens Hausgeräte GmbH Home appliance with antenna
US20130201651A1 (en) 2012-02-02 2013-08-08 Aesculap Ag Housing for accommodating electric and electronic components

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109591034A (en) * 2018-12-21 2019-04-09 遨博（北京）智能科技有限公司 A kind of control cabinet
RU191786U1 (en) * 2019-02-27 2019-08-21 Федеральное государственное бюджетное учреждение "16 Центральный научно-исследовательский испытательный ордена Красной Звезды институт имени маршала войск связи А.И. Белова" Министерства обороны Российской Федерации CABLE INPUT OF A MOBILE COMMUNICATION OBJECT
JP7317670B2 (en) 2019-10-31 2023-07-31 河村電器産業株式会社 Antenna built-in handle

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