JP2004122243A - One-hand instruction device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a one-hand instruction device with an enable switch arbitrarily selecting an optimum casing grip position even if the size of the hand of a user varies. <P>SOLUTION: When instructing an instruction object device, this one-hand instruction device 1 is provided with an operation key switch controlling the operation state of the instruction object device in the front surface and the enable switch operated by a pushing pressure by holding of the grip hand in the rear surface. An enable switch operation part 2 is attached to an enable switch grip part 3 to be inclined from the side wall side of the one-hand instruction device 1. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a hand-held teaching device that performs teaching operations on, for example, an industrial robot, and more particularly to an enable switch (also referred to as a deadman switch) of the hand-held teaching device.
[0002]
[Prior art]
Conventionally, when performing teaching operations to industrial robots, an operator holds a hand-held teaching device with one or both hands and presses the keys on the teaching device with the thumbs of both hands or the fingers of the hands that are not gripped. Yes. For safety in robot operation, the hand-held teaching device incorporates a so-called deadman switch that operates while touching with the hand and stops when the hand is released. The deadman switch push plate is placed on the back of the hand-held teaching device so that each fingertip is in contact with the fingertip when it is gripped. Is disclosed (for example, see Patent Document 1).
In addition, there is disclosed a device in which a finger hook portion having a shape for fitting a finger is provided on the back side of the hand-held teaching device so that the operator does not get tired even if the hand-held teaching device is gripped for a long time (for example, Patent Document 2). reference).
Furthermore, the deadman switch push plate, a shaft provided on the push plate, a dog plate fitted to the shaft, a plurality of bosses, a spacer fitted to the shaft, a spring provided on the outer periphery of the shaft, It is attached to the back plate, and the dog engages with the dog plate and turns OFF when it is free. When the dog plate pushes the dog a little, it turns ON. It is equipped with a three-point limit switch that is turned off when it is pushed in deeply, and in a panic situation due to robot runaway, etc., it is extremely safe and fail-safe to ensure that the operator is turned off even if the handheld controller is strongly squeezed. (See, for example, Patent Document 3).
[0003]
[Patent Document 1]
JP-A 63-207580 [Patent Document 2]
Japanese Utility Model Publication No. 63-70893 [Patent Document 3]
Japanese Patent Laid-Open No. 08-90485
As described above, various improvements have been made to the conventional enable switch, but they are inconvenient in common in the following points. This will be described based on a conventionally known enable switch shown in FIG. FIG. 6 is a three-side view of a one-handed teaching device with an enable switch, where (a) is a top view, (b) is a front view, (c) is a side view, and (d) is a rear view.
In the figure, 1 "is a teaching device with an enable switch, 2" is an enable switch operation section, 3 "is an enable switch holding section, 4 is an operation key, and 5 is an emergency stop button.
As can be seen from the figure, the enable switch operating section 2 ″ of the conventional one-handed teaching device 1 ″ with an enable switch is arranged so that the pressing direction is perpendicular to the side surface of the teaching device housing.
The enable switch operates in two stages depending on the gripping pressure. The enable switch is turned on at the first stage, the teaching device is operable, and turned off at the second stage, and the teaching device is disabled (stopped). Moreover, it is in an OFF state in a state where no gripping pressure is applied, and the enable switch has three positions of OFF-ON-OFF.
The teaching device is placed on the palm of the hand, the thumb is placed against the side wall of the teaching device, the other four fingers are placed against the enable switch operation unit 2 ″, and the operation key 4 is operated with the other finger.
The enable switch is integrated with the housing, and the pressing direction is fixed.
[0005]
[Problems to be solved by the invention]
Thus, in the conventional one-handed teaching device 1 ″ having the enable switch, the enable switch operating portion 2 ″ is arranged so that the pressing direction of the enable switch and the side surface of the teaching device housing are perpendicular to each other. The grip width is not limited to the holding position and is constant. For this reason, operability and stability vary due to differences in hand size (gripping width) due to individual differences.
For example, in the case of a person with a small hand, if priority is given to holding the teaching device 1 ″, the enable switch operation unit 2 ″ is not sufficiently reachable, so that it is difficult to enter the second stage of the enable switch and the operability is impaired. On the other hand, if priority is given to the operability of the enable switch and a finger is firmly placed on the operation portion 2 ″, the stability of holding the teaching device is impaired, and if it is forced to hold it, fatigue will be felt for a long time operation.
On the other hand, in the case of a person with a large hand, if priority is given to holding the teaching device 1 ″, the hand completely covers the enable switch operation portion 2 ″, and the operability becomes difficult to operate the enable switch. If priority is given to the operability of the enable switch, there is a disadvantage that the hand for holding the teaching device can be afforded and the stability is impaired.
Further, in the conventional one-handed teaching device 1 ″, the enable switch (2 ″ and 3 ″) and the housing are integrated, so that the pressing direction of the enable switch is determined and the hand is held regardless of the right / left handed hand. Will be decided.
For this reason, people with different dominant hands are forced to operate in a different direction from the will, and the stability and operability of holding the teaching device are impaired.
SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and to provide a teaching device that does not impair the operability of an enable switch without impairing the stability of the teaching device holding by the size of the hand due to individual differences and the dominant hand To do.
[0006]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention of the one-handed teaching device according to claim 1 has an operation key switch for controlling the operation status of the taught device at the time of teaching the taught device, and by holding the holding hand. In the one-handed teaching device having an enable switch operated by a pressing force on the back surface, the enabling switch operating portion is attached to the enabling switch holding portion so as to be inclined from the side wall side of the one-handed teaching device.
The invention of the one-handed teaching device according to claim 2 includes an operation key switch for controlling an operation state of the taught device when teaching the taught device on the front, and an enable switch operated by a pressing force by holding the holding hand. The single-handed teaching device on the back is characterized in that the enable switch holding portion can be rotated around a single axis extending in the length direction of the single-handed teaching device housing.
The invention of the one-handed teaching device according to claim 3 includes an operation key switch for controlling an operation state of the taught device when teaching the taught device on the front, and an enable switch operated by a pressing force by holding the holding hand. In the one-handed teaching device on the back surface, the enable switch holding portion can be rotated about one axis extending in the length direction of the one-handed teaching device casing, and the enable switch operating portion is arranged on the side wall side of the one-handed teaching device The enable switch is attached to the enable switch holding portion so as to be more oblique.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[First Embodiment]
FIG. 1 is a rear view of the single-handed teaching device according to the first embodiment of the present invention, FIG. 2 is a three-side view of the single-handed teaching device of FIG. 1, (a) is a top view, and (b) is a top view. Front view, (c) is a side view, (d) is a rear view, FIG. 3 shows a state where the one-handed teaching device of FIG. 1 is held in hand, (a) is a person with a large hand (person with a wide grip width) ), (B) are rear conceptual views of a person with a small hand (person with a narrow grip width) holding a one-handed teaching device in his hand.
In FIG. 1, 1 is a teaching device with an enable switch according to the first embodiment, 2 is an enable switch operating unit, and 3 is an enable switch holding unit.
As shown in FIG. 1, when the enable switch holding unit 3 is attached obliquely when viewed from the side wall of the teaching device, the enable switch operation unit 2 is also inclined, and as the teaching device is on the upper side, the side surface of the teaching device 1 and the enable switch operation unit The distance to 2 is shortened.
FIG. 2 shows the one-handed teaching device of FIG. 1 in three views. In each of the drawings (a) to (C), reference numeral 4 denotes an operation key, and 5 denotes an emergency stop button. ing. In FIG. 2, it can be well understood that the distance from the side surface of the teaching device 1 to the enable switch operation unit 2 is shortened from the bottom to the top.
Since the enable switch operation unit 2 is configured to operate only by applying pressure to one end of the key top, the teacher can select the housing holding position according to the grip width within the range where the finger is applied to the key top. .
As an example, FIG. 3 shows housing holding positions of a person with a large hand and a person with a small hand.
As can be seen from the figure, according to the first embodiment of the invention, since the holding hand grip width of the enable switch operation unit 2 varies depending on the holding position, the optimum housing holding position is optional depending on the size of the hand. You can get a global feeling of operation.
[0008]
[Second Embodiment]
FIG. 4 is a rear perspective view when the enable switch holding portion of the one-handed teaching device according to the second embodiment of the present invention is rotated, and FIG. 5 shows a state where the one-handed teaching device of FIG. , (A) is a rear conceptual view of a right-handed person (held with a left hand), and (b) is a rear conceptual view of a left-handed person (held with a right hand).
In FIG. 4, 1 'is a teaching device with an enable switch according to the second embodiment, 2' is an enable switch operation unit, and 3 'is an enable switch holding unit.
As can be seen from FIG. 4, in the second embodiment of the present invention, the enable switch operation unit 2 ′ and the holding unit 3 ′ that holds the enable switch can rotate and freely change the pressing direction of the enable switch. It has a structure. In this way, the direction of the enable switch can be determined according to the handedness of the teacher.
As an example, FIG. 5 (a) shows a right-handed person, and FIG. 5 (b) shows a rear conceptual diagram in a state where a left-handed person has it in his hand. According to this, when a right-handed person uses, as shown in FIG. 5 (a), the left hand holds the one-handed teaching device 1 'according to the second embodiment, and the teaching content is operated with the right hand. It can be input by operating the key 4, and when used by a left-handed person, the teaching device 1 'is held with the right hand and the teaching content is operated with the left hand as shown in FIG. 5 (B). It is convenient because it can be input.
[0009]
In addition, as a third embodiment, as shown in FIGS. 4 and 5, an enable switch operating unit and an enable switch holding unit having both the first embodiment and the second embodiment are used. Is good.
That is, the enable switch holding portion 3 ′ is an enable switch that can be rotated about one axis extending in the length direction of the one-handed teaching device housing and that the enable switch operating portion 2 ′ is inclined from the side wall of the teaching device. It is made to attach to holding part 3 '.
With such a configuration, a person with a large hand and a person with a small hand and a right-handed person and a left-handed person can comfortably use the one-handed teaching device 1 ′.
[0010]
【The invention's effect】
As described above, according to the present invention, the holding hand grip width of the enable switch operating unit varies depending on the holding position, so that the housing holding position can be selected according to the size of the hand, and there is a holding unit that holds the enable switch. Since the rotary motion can be performed around one axis, the pressing direction of the enable switch can be freely changed, so that a global operational feeling can be obtained regardless of the dominant hand.
[Brief description of the drawings]
FIG. 1 is a rear conceptual view of a one-handed teaching device according to a first embodiment of the present invention.
2 is a three-side view of the one-handed teaching device of FIG. 1, wherein (a) is a top view, (b) is a front view, (c) is a side view, and (d) is a rear view.
3 shows a state where the one-handed teaching device of FIG. 1 is held in a hand, (a) is a person with a large hand (person with a wide grip width), and (b) is a person with a small hand (person with a narrow grip width). ) Is a conceptual diagram of each rear surface with the one-handed teaching device in hand.
FIG. 4 is a rear perspective view of the enable switch holding unit of the one-handed teaching device according to the second embodiment of the present invention during a rotational movement.
5 shows a state where the one-handed teaching device of FIG. 4 is held in a hand, where (a) is a right-handed person (held with a left hand), and (b) is a left-handed person (held with a right hand). FIG.
6A and 6B are three views of a conventional one-handed teaching device with an enable switch, wherein FIG. 6A is a top view, FIG. 6B is a front view, FIG. 6C is a side view, and FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Teaching device 1 'with an enable switch which concerns on 1st Embodiment Teaching device 2 which has an enable switch which concerns on 2nd Embodiment Enable switch operation part 2' which concerns on 1st Embodiment Enable switch which concerns on 2nd Embodiment Operation unit 3 Enable switch holding unit 3 'according to the first embodiment Enable switch holding unit 4 according to the second embodiment 4 Operation key 5 Emergency stop button 9 Hand held by the teacher

Claims (3)

In a one-handed teaching device having an operation key switch on the front for controlling the operation state of the taught device at the time of teaching the taught device, and an enable switch operated on the back by a pressing force by holding a holding hand,
A one-handed teaching device, wherein an enabling switch operating portion is attached to an enabling switch holding portion so as to be inclined from the side wall side of the one-handed teaching device. In a one-handed teaching device having an operation key switch on the front for controlling the operation state of the taught device at the time of teaching the taught device, and an enable switch operated on the back by a pressing force by holding a holding hand,
A one-handed teaching device, wherein the enable switch holding portion is rotatable about one axis extending in the length direction of the one-handed teaching device casing. In a one-handed teaching device having an operation key switch on the front for controlling the operation state of the taught device at the time of teaching the taught device, and an enable switch operated on the back by a pressing force by holding a holding hand,
The enable switch holding portion is rotatable about one axis extending in the length direction of the one-handed teaching device casing, and the enable switch operating portion is inclined from the side of the one-handed teaching device side wall. A one-handed teaching device that is attached to a holding portion.

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