JP2012110995A - Operation teaching device which can teach operation by finger touch - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation teaching device which can efficiently perform teaching operation without impressing a burden on a user.SOLUTION: A capacitance switch 111 is arranged at a place where a third finger or a fourth finger is naturally positioned when a holding part 110 is held by a palm and third to fifth fingers. Accordingly, the user can bring the teaching device 100 into a state of being able to teach the operation by only holding the holding part 110. In other words, since the teaching device 100 does not require any special operation of the user for bringing the teaching device into a state of being able to teach the operation, a user's operation burden can be mitigated in teaching the operation. A pressure switch 113 is arranged near the capacitance switch 111 at a place where the third finger or the fourth finger is naturally positioned when the holding part 110 is held by the palm and third to fifth fingers. By this, the user can bring the device into an operation input disabled state by only performing the operation of strongly gripping the holding part 110 like a usual enable switch.

Description

  The present invention relates to a motion teaching device, and more particularly, to a device for continuously grasping with a hand.

  A direct teaching device for an industrial robot, which is a conventional motion teaching device, will be described with reference to FIG. A hand 2 that can be opened and closed as an end effector is attached to the tip of the articulated robot 1. A force sensor 3 is disposed between the tip of the robot 1 and the hand 2, and an operation handle 4 is fixed to the force sensor 3. The force sensor 3 detects the direction and magnitude of the force applied to the operation handle 4, and the operator holds the operation handle 4 and applies force in a desired direction to operate the robot 1 and directly teach it. Details of the direct teaching procedure will be described later. The operation handle 4 is provided with a display 5 having a touch panel function and a deadman switch 4A.

  The control of the control device 6 in the case where the robot 1 is guided by applying a force to the operation handle 4 gripped by the operator 50 and directly teaches will be described with reference to FIG. When the operator 50 depresses the deadman switch 4A of the operation handle 4, the operation can be taught to the robot via the operation handle 4. Further, when the operator 50 releases the deadman switch 4A of the operation handle 4, it becomes impossible to teach the operation to the robot via the operation handle 4.

JP 2009-72833 A

  The above robot teaching apparatus has the following points to be improved. The operator 50 must always press down the deadman switch 4A when teaching the robot by the robot teaching device. For this reason, long-time input operations impose a considerable burden on the operator 50. Eventually, erroneous input due to fatigue occurs.

  Therefore, an object of the present invention is to provide an operation teaching apparatus that can efficiently perform teaching work without imposing a burden on the user.

  Means for solving the problems according to the present invention and effects of the invention will be described below.

  An operation teaching apparatus according to the present invention is an operation teaching apparatus for teaching an operation to a predetermined apparatus, and includes a gripping unit gripped by a palm and a finger, and an operation unit operated when teaching the operation. And the gripping unit includes a motion teachable state generation unit that generates a motion teachable state that enables the motion to be taught when a predetermined finger comes into contact therewith.

  Thereby, since it can be made into an operable state only by touching a finger, the user can perform teaching work efficiently without burden.

  The motion teaching device according to the present invention is characterized in that the motion teaching possible state generating unit is configured by a capacitance detecting means.

  Accordingly, it is possible to realize an operation teaching apparatus that can be operated by simply grasping the grasping portion with a simple configuration.

  In the motion teaching apparatus according to the present invention, the motion teaching possible state generating unit is arranged at a place where a predetermined finger is positioned when the gripping unit is gripped by the palm and the finger. .

  Thereby, it is possible to eliminate the need for special work other than gripping the grip portion in order to enable the operation. Therefore, the user can perform teaching work efficiently without burden.

  In the motion teaching apparatus according to the present invention, the gripping unit further generates a motion teaching impossible state that generates a motion teaching impossible state in which the motion cannot be taught when a force greater than a predetermined force is applied. It has the part.

  Thereby, like the enable switch, it is possible to make the operation teaching impossible state only by increasing the gripping force. In other words, since the operation teaching can be disabled by a simple operation, no special burden is imposed on the operator during use.

  The motion teaching apparatus according to the present invention is characterized in that the motion teaching impossible state generating unit is a pressure detecting means.

  Thereby, it is possible to realize an operation teaching device that can be made inoperable by simply increasing the gripping force with a simple configuration.

  In the motion teaching device according to the present invention, it is possible to move from the first position at which the palm side can grip the gripping part to the second position at which work other than gripping of the gripping part is possible. Features.

  As a result, it is possible to easily perform operations other than gripping of the gripping part simply by moving the gripping part and the operation part from the first position to the second position. Therefore, the operation teaching work and the other work can be efficiently performed.

  In the motion teaching device according to the present invention, when the gripping part is gripped, the gripping part and the operation part are rotated about the rotation axis in the direction along the palm, thereby the first state and the second state. It is possible to make it.

  Accordingly, the gripping unit and the operation unit can be moved from the first position to the second position by an easy operation of rotating the gripping unit and the operation unit. Therefore, the operation teaching work and the other work can be efficiently performed.

  In the motion teaching device according to the present invention, a fixing unit that can fix the gripping unit and the operation to the second position when the gripping unit and the operation unit are rotated around the rotation time. Have.

  Thereby, when the grip part and the operation part are set to the second position, the grip part and the operation part can be in a stable state. Therefore, operations other than the operation teaching operation can be performed efficiently.

  In the motion teaching apparatus according to the present invention, the fixing unit fixes the gripping unit and the operation unit by a magnetic force.

  Thereby, a grip part etc. can be fixed to the 2nd position with simple composition.

  The motion teaching apparatus according to the present invention further includes direction input means for performing direction selection / input work for motion teaching.

  Thereby, the direction selection work and the direction input work can be easily performed.

  The motion teaching device according to the present invention is further characterized by having a vibration generating / transmitting function for transmitting the state of the predetermined device.

Thereby, the state of a predetermined | prescribed apparatus can be transmitted to a user via a vibration. Therefore, if the vibration is generated when the predetermined device is in an abnormal state and the vibration is transmitted to the user, the user can directly detect the abnormal state of the predetermined device.

1 is a perspective view of a teaching device 100 that is an embodiment of an operation teaching device according to the present invention. FIG. It is a figure which shows the state seen from the back of the teaching apparatus 100. FIG. It is a figure which shows the state which hold | gripped the teaching apparatus 100. FIG. It is a figure which shows the state which rotated the holding part 110 and the operation part 130 of the teaching apparatus 100. FIG. It is a figure which shows the other Example of a motion teaching apparatus. It is a figure which shows the conventional motion teaching apparatus. It is a figure which shows the conventional motion teaching apparatus.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  A teaching device 100 for teaching a motion to a robot, which is an embodiment of the motion teaching device according to the present invention, will be described with reference to the perspective view shown in FIG. Information input using the teaching device 100 is input to a predetermined control device (not shown) via the connection line W. The control device performs a predetermined process and generates information for teaching the operation to the robot.

  The teaching device 100 includes a gripping part 110, an operation part 130, a locking part 150, a first fixing part 170, and a second fixing part 190. When using the teaching device 100, the user passes the wrist through the second fixing unit 190 and passes the palm through the first fixing unit 170 to fix the teaching device 100 to the hand. This prevents the teaching device 100 from falling. In addition, the user hooks the locking portion 150 on the palm side, and roughly fixes the position of the teaching device 100. The user grips the grip 110 using the palm and the third to fifth fingers, or the palm and the fourth to fifth fingers. The user holds various types of buttons (described later) arranged on the operation unit 130 using the first finger, the second finger, and the third finger while holding the holding unit 110, and various types of buttons arranged on the holding unit 110. Operate the switch (described later).

  The grip 110 has a capacitance switch 111 and a pressure switch 113. The capacitance switch 111 operates by detecting a change in capacitance of the detection electrode when an object comes into contact with the detection electrode arranged inside. In the teaching device 100, when the electrostatic capacitance switch 111 is turned on, the teaching device 100 enters an operation teaching enabled state in which the teaching of the operation to the robot can be performed. Thereby, it is possible to input with various buttons arranged on the operation unit 130.

  The pressure switch 113 detects a pressure higher than a predetermined pressure and operates. In the teaching device 100, when the pressure switch 113 is turned on, the teaching device 100 becomes in an operation teaching impossible state where teaching of the operation to the robot becomes impossible. Thereby, even if there is an input from various buttons arranged on the operation unit 130, teaching of the operation to the robot is not performed.

  The operation unit 130 is continuously disposed above the grip unit 110 and the grip unit 110. In the operation unit 130, a joystick 131, a first button 133, and a second button 135 are disposed as direction input means. The joystick 131 is disposed on the upper surface of the operation unit 130. The user operates the joystick 131 using the first finger. The first button 133 and the second button 135 are disposed on the front surface of the operation unit 130. The user operates the first button 133 and the second button 135 using the second finger or the third finger. Each of the first button 133 and the second button 135 has a predetermined function, for example, an opening / closing operation, a rotation / stop operation, a coating type selection, and a welding method selection according to the type of the end effector arranged in the robot. Assigned.

  The locking part 150 is formed continuously from the grip part 110 or the operation part 130. The state which looked at the teaching apparatus 100 from back is shown in FIG. The locking part 150 has a hinge part 151 and a magnet part 153. The hinge part 151 has a rotation axis J1 arranged in a direction along the palm when the grip part 110 is gripped. Thereby, the grip part 110 and the operation part 130 rotate around the rotation axis J1 from the inside of the palm to the outside and from the outside to the inside.

  When teaching the operation by the operation unit 130, the user places the grip unit 110 and the operation unit 130 at a first position where the grip unit 110 and the operation unit 130 are located on the palm side. In addition, when the user performs a work other than teaching operation by the operation unit 130, the user rotates the grip unit 110 and the operation unit 130, so that the grip unit 110 and the operation unit 130 are positioned outside the palm. The grip part 110 and the operation part 130 can be arranged. Thereby, without removing the teaching device 100 from the wrist, operations other than teaching the operation to the robot, such as an input operation to a computer via an input device such as a keyboard and a mouse, and a description operation using a writing instrument can be easily performed. It can be carried out. When the user wants to start teaching the operation to the robot again, the user may rotate the grip part 110 and the operation part 130 from the outside to the inside and place them inside the palm.

  The magnet portion 153 is disposed on the locking portion 150 with the hinge portion 151 interposed therebetween. The magnet unit 153 is disposed at a position facing the grip unit 110 and the operation unit 130 when the magnet unit 153 is rotated about the rotation axis J1 of the hinge unit 151. Thereby, the rotated gripping part 110 and the operating part 130 can be fixed to the locking part 150.

  Returning to FIG. 1, the 1st fixing | fixed part 170 and the 2nd fixing | fixed part 190 have an annular structure, and are formed with the raw material which has elasticity. The first fixing part 170 is fixed to the locking part 150.

  FIG. 3 shows a state in which the teaching device 100 is gripped using the palm and the third to fifth fingers. As shown in FIG. 3, the capacitance switch 111 is disposed at a place where the third finger or the fourth finger is naturally positioned when the grip 110 is gripped by the palm and the third to fifth fingers. Yes. For example, it arrange | positions ahead of the side surface on the opposite side to the side surface in which the latching | locking part 150 is arrange | positioned. By disposing the capacitance switch 111 in this manner, the user can put the teaching device 100 into an operation teaching enabled state simply by gripping the grip portion 110. That is, since the user is not required to perform a special operation when the teaching device 100 is in a state where the operation can be taught, the operation burden on the user can be reduced when the operation is taught.

  It should be noted that the user turns off the capacitance switch 111, that is, sets the teaching device 100 to the non-operation teaching state from the operation teaching enabled state by not touching the finger touching the capacitance switch 111. It can be made possible.

  The pressure switch 113 is disposed in the vicinity of the capacitance switch 111, where the third finger or the fourth finger is naturally positioned when the grip 110 is gripped by the palm and the third to fifth fingers. As a result, the user can make the operation input impossible state only by performing a strong gripping operation on the gripping part 110 as in the case of a normal enable switch. Since the user can operate in the same manner as a normal enable switch, the teaching device 100 can be easily used.

  As described above, by disposing the capacitance switch 111 and the pressure switch 113, it is possible to reduce the work load caused by the user's operation teaching while realizing the same operation as that of the enable switch. The enable switch is a manual operation device for enabling the robot to operate as long as it is held at a predetermined position (JIS B 8433 (industrial manipulating robot-safety) 3.2.3. Section). The enable switch is also called a deadman switch.

  FIG. 4 shows a state in which the grip part 110 and the operation part 130 are rotated in the direction of the arrow a1 about the rotation axis J1. The user can use the palm and fingers by rotating the gripping part 110 and the operation part 130 in the direction of the arrow a1 from the palm side toward the back side and arranging them on the back side of the hand. Therefore, the user can easily perform operations using other hands, such as an input operation to a computer and a description operation using a writing instrument.

  Moreover, since the magnet part 153 is arrange | positioned at the latching | locking part 150, the rotated holding part 110 and the operation part 130 can be fixed easily. Therefore, the grip part 110 and the operation part 130 do not become unstable, and the grip part 110 and the operation part 130 do not hinder other work.

  When performing the operation teaching operation again, the user may rotate the gripping unit 110 and the operation unit 130 in the direction of the arrow a3 from the back side toward the palm side, and place it on the palm side.

[Other Examples]
(1) Position of Capacitance Switch 111: In Example 1 described above, the capacitance switch 111 is in contact with the finger when the grip portion 11 is gripped by the palm and the third to fifth fingers. If it is a place to do, it is not limited to the illustrated place. For example, it may be arranged on the operation surface of the first button 133, the second button 135, or the joystick 131. Thereby, when the grip part 110 and the operation part 130 are gripped, the capacitance switch 111 can be disposed at a position where a predetermined finger is naturally positioned. Further, when teaching the operation, the user always comes into contact with the capacitance switch 111, so that a special work load is not imposed on the user.

  Further, when the electrostatic capacitance switch 111 is disposed on each of the joystick 131, the first button 133, and the second button 135, one or more of the first finger, the second finger, the third finger, As long as the first button 133 and the second button 135 are touched, the operation teaching state may be set.

  Further, when any two or more are in contact, or when all three are in contact, control such as an operation teaching disabled state may be performed.

  (2) Position of the pressure switch 113: In the first embodiment, the pressure switch 113 is disposed in the vicinity of the capacitance switch 111, but is not limited to the illustrated position. For example, if a clear intention is required for the operation of the pressure switch 113, the finger or the like may be arranged at a position different from the position at which the finger or the like is naturally arranged when the grasping unit 110 is grasped.

  (3) First position and second position in the gripping part 110 and the operation part 130: In the first embodiment, the gripping part is rotated by rotating around the rotation axis J1 of the hinge part 151 included in the locking part 150. 110 and the operation unit 130 are moved, but the gripping unit 110 and the operation unit 130 may be arranged as long as they can be arranged at positions that do not disturb the user when performing work other than operation teaching. It is not limited to things. For example, the locking part 150 may be formed using a member that can be bent freely and can maintain the bent state, and the positions of the gripping part 110 and the operation part 130 may be adjusted as appropriate.

  Further, as shown in FIG. 5, by rotating the shaft portion of the locking portion 250 of the teaching device 200 in the direction of the arrow a5, the positions of the grip portion 110 and the operation portion 130 are changed from the first position to the second position, and to the second position. You may make it move from a position to a 1st position.

  (4) Fixing of the gripping part 110 and the operating part 130: In the first embodiment, the positions of the gripping part 110 and the operating part 130 are fixed using the magnet part 153 at the second position after the rotation. As long as the position of the part 110 and the operation part 130 can be fixed, it is not limited to the example. For example, the gripping part 110 and the operating part 130 that have been rotated may be fixed by forming a convex part and a concave part at predetermined positions of the locking part 150 and fitting them together.

  Alternatively, the gripping unit 110 and the operation unit 130 may be automatically moved from the inside of the hand to the back of the hand when the gripping unit 110 is stopped gripping by using an elastic force such as a spring.

  (5) Shape of teaching device 100: In the above-described first embodiment, the teaching device 100 has a shape in which the grip portion 110 and the operation portion 130 are continuously arranged, but there is no operation portion 130 and the grip portion 110. For example, the joystick 131, the first button 133, and the second button 135 in FIG.

  (6) Additional function: In the teaching apparatus 100 according to the first embodiment, a structure for realizing a vibration generation / transmission function may be further added. As a vibration generation / transmission structure, for example, there is a structure that realizes vibration used in a mobile phone. As a result, when the robot is in an abnormal state, such as when the robot connected to the teaching device 100 exceeds a predetermined movable range, the robot has received a shock exceeding a predetermined value, such as a collision with an obstacle, etc. In addition, the abnormal state can be directly transmitted to the user by using the vibration generation / transmission function.

  (7) Direction input means: In the above-described first embodiment, the joystick 131 is exemplified as the direction selection means. However, the direction selection means is not limited to the illustrated example as long as the direction selection / input operation in the operation teaching can be performed. . For example, a so-called cross key used for a controller of a game device may be arranged.

(8) Motion teachable state generation unit: In the above-described first embodiment, the capacitance switch 111 is illustrated as the motion teachable state generation unit. However, a motion can be taught by a predetermined finger touching it. As long as it can generate the motion teaching possible state, it is not limited to the example. For example, a resistance film type contact switch or a cut-off photoelectric switch may be used.

The motion teaching device according to the present invention can be used, for example, as a teaching device for teaching a robot a predetermined motion.

DESCRIPTION OF SYMBOLS 100 ... Teaching device 110 ... Grasping part 111 ... Capacitance switch 113 ... Pressure switch 130 ... Operation part 150 ... Locking Part 151... Hinge part J 1... Rotating shaft 153 .. Magnet part

Claims (11)

An operation teaching device for teaching an operation to a predetermined device,
A gripping part for gripping with a palm and a finger,
An operation unit operated when teaching the operation;
Have
The gripping part is
Having a motion teachable state generating unit that generates a motion teachable state enabling teaching of the motion when a predetermined finger comes into contact;
An operation teaching device characterized by the above. In the operation teaching apparatus according to claim 1,
The operation teaching possible state generation unit
Being constituted by a capacitance detection means;
An operation teaching device characterized by the above. In the motion teaching device according to claim 1 or 2,
The operation teaching possible state generation unit
When the gripping part is gripped by the palm and the finger, it is arranged at a place where a predetermined finger is located,
An operation teaching device characterized by the above. In any of the operation | movement teaching apparatuses which concern on Claims 1-3,
The gripping part further includes
Having a motion teaching impossible state generating unit that generates a motion teaching impossible state in which teaching of the motion is impossible by applying a force equal to or greater than a predetermined force;
An operation teaching device characterized by the above. In the operation teaching device according to claim 4,
The motion teaching impossible state generation unit
Being pressure detection means,
An operation teaching device characterized by the above. In any one of the operation | movement teaching apparatuses which concern on Claims 1-5,
Moving from a first position where the gripper and the palm side can grip the gripper to a second position enabling work with a palm or fingers other than gripping the gripper;
An operation teaching device characterized by the above. In the motion teaching device according to claim 6,
When the gripping part is gripped, the first state and the second state can be achieved by rotating the gripping part and the operation part around a rotation axis in a direction along the palm.
An operation teaching device characterized by the above. In the motion teaching apparatus according to claim 7,
A fixing unit capable of fixing the gripping unit and the operation at the first position when the gripping unit and the operation unit are rotated around the rotation time;
An operation teaching apparatus having In the motion teaching device according to claim 8,
The fixing part is
Fixing the gripping part and the operation part by magnetic force;
An operation teaching device characterized by the above. In any one of the operation | movement teaching apparatuses which concern on Claims 1-9, Furthermore,
Direction input means for performing direction selection and input work for motion teaching,
An operation teaching apparatus having In any one of the operation | movement teaching apparatuses based on Claims 1-10, Furthermore,
Having a vibration generating / transmitting function for transmitting the state of the predetermined device;
An operation teaching device characterized by the above.

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