JP2007094930A - Operation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation device, capable of carrying out the operation with more degrees of freedom simultaneously and reducing user's fatigue. <P>SOLUTION: The operation device A1 is equipped with s stick 2 that can be translated independently along the mutually-perpendicular direction x and direction y, and a detection means 3, capable of independently detecting the amount of translation of the direction x and the amount of translation of the direction y of the stick 2. The stick 2 can be translated along the direction z that is perpendicular independently to the direction x and to the direction y, and the detection means 3 is capable of independently detecting the amount of translation of the direction z of the stick 2. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an operating device used for teaching work of an industrial 6-axis robot, for example.

  FIG. 13 shows an example of a conventional operating device. The operating device X shown in the figure includes a trackball 92 embedded in the grip portion 91. The trackball 92 is supported so as to be rotatable with respect to the grip portion 91. In operation using the operating device X, the rotation of the trackball 92 is divided into rotation in the rotation direction α around the x axis and rotation in the rotation direction β around the y axis, and the direction and amount of each rotation are determined. To detect. For example, when teaching an industrial six-axis robot, the rotation direction α and the rotation direction β are made to correspond to any two degrees of freedom that define the operation of the robot. As a result, the operation of rotating the trackball 92 can be performed on the robot with respect to the two degrees of freedom.

  However, since the robot has six degrees of freedom, it is possible to perform complicated work in a three-dimensional space including an automobile welding process. On the other hand, the degree of freedom that can be operated by the trackball 92 is only two degrees of freedom in the rotation direction α and the rotation direction β. For this reason, it is impossible to simultaneously operate the six degrees of freedom of the robot. For example, it is forced to further operate using an additional trackball or other buttons. For a user, a trackball which is an instruction means having only two degrees of freedom is very inconvenient.

  In order to teach the robot, for example, a total of six degrees of freedom in three translational directions and three rotational directions can be taught efficiently with reference to a working tool attached to the robot arm. Is preferable. However, the operation with the trackball 92 is only a rotation operation. When this rotation operation is applied to the translation operation of the robot, the trackball 92 is forced to rotate to translate the actual robot. Since this is an operation that does not match the movement of the robot that the user wants to operate, the user's feeling of fatigue may increase.

JP-A-10-240332

  The present invention has been conceived under the circumstances described above, and provides an operating device capable of simultaneously operating with a greater degree of freedom and reducing a user's fatigue. The task is to do.

  In order to solve the above problems, the present invention takes the following technical means.

  The operating device provided by the 1st side of the present invention is the indication means which can be translated independently along each of the 1st direction and the 2nd direction which intersect perpendicularly mutually, and the 1st direction translation amount of the above-mentioned indication means And a detecting unit capable of independently detecting the translation amount in the second direction, wherein the indicating unit is independent along a third direction orthogonal to the first direction and the second direction. The detecting means can detect the third direction translation amount of the indicating means further independently.

  According to such a configuration, it is possible to instruct the translation amount in three different directions by the instruction means. Therefore, various translational movement operations in the three-dimensional space can be appropriately performed.

  The operating device provided by the second aspect of the present invention includes an indicating means capable of independently rotating around each of a first axis and a second axis extending along a first direction and a second direction orthogonal to each other; And an detecting device capable of independently detecting the amount of rotation about the first axis and the amount of rotation about the second axis of the indicating means, wherein the indicating means includes the first direction and the first direction. Rotation is further independently possible around a third axis extending along a third direction orthogonal to two directions, and the detection means further independently detects the amount of rotation around the third axis of the indication means. It is characterized by being possible.

  According to such a structure, it is possible to instruct | indicate the rotation amount about three mutually different rotation directions by the said instruction | indication means. Accordingly, various rotational movement operations such as changing the posture of the robot in the three-dimensional space can be appropriately performed.

  An operating device provided by the third aspect of the present invention is an operating device comprising: an indicating means capable of translation or rotation; and a detecting means capable of detecting the translation amount or the rotation amount of the indicating means, The indicating means can be independently translated along a first direction, a second direction, and a third direction orthogonal to each other, and extends in the first direction, the second direction, and the third direction. The detection means can rotate independently around each of the first axis, the second axis, and the third axis, and the detection means includes the first direction translation amount, the second direction translation amount, and the third direction of the indication means. It is characterized in that the direction translation amount, the rotation amount around the first axis, the rotation amount around the second axis, and the rotation amount around the third axis of the instruction means can be detected independently.

  According to such a configuration, it is possible to instruct the instructing means for a total of six degrees of freedom of translation in three directions and rotation in three rotation directions. Therefore, for example, the operation of the industrial 6-axis robot can be operated by instructing using one of the above-mentioned instruction means without depending on a large number of switches. This is suitable for simplifying the configuration of the operating device and reducing the fatigue of the user.

  In a preferred embodiment of the present invention, the detection means includes a translation amount detection mode for detecting only the translation amount of the instruction means, and a rotation amount detection mode for detecting only the rotation amount of the instruction means. Detection mode switching means for performing detection mode switching is further provided. According to such a configuration, translation and rotation can be prevented from being erroneously detected in the instruction using the instruction means.

  In a preferred embodiment of the present invention, an operation for switching the operation mode between the translation mode in which only the translation is allowed and the rotation is prevented and the rotation mode in which only the rotation is allowed and the translation is prevented is performed on the instruction means. A mode switching means is further provided. According to such a configuration, for example, when the robot performs a translation operation, the instruction unit is set in a translation mode, and when the robot performs a rotation operation, the instruction unit is set in a rotation mode. As a result, the actual movement of the robot and the instruction movement in the operating device have the same nature. Therefore, the operation according to the user's sense can be realized.

  In a preferred embodiment of the present invention, the detection means is generated in the pair of first elastic members and the pair of first elastic members arranged opposite to each other with the instruction means interposed therebetween in the first direction. A pair of first detectors that detect the elastic force, a pair of second elastic members that are opposed to each other with the indicating means interposed therebetween in the second direction, and the pair of second elastic members. And a pair of second detectors for detecting the elastic force. According to such a configuration, the indicating means can be naturally returned to its neutral position. Thereby, it is possible to reduce the troublesomeness of work using the operating device. For example, if the operation speed of the robot is proportional to the translation amount of the instruction means, a larger operating force is required as the robot moves at a higher speed. This is suitable for making the user aware that the robot is operating at high speed.

  In a preferred embodiment of the present invention, the detection means includes a first displacement detector that detects that at least a part of the first elastic member is displaced in the second direction, and at least the second elastic member. And a second displacement detector for detecting that a part has been displaced in the first direction. According to such a configuration, it is possible to appropriately detect the direction of rotation about the third axis with respect to the instruction means.

  In a preferred embodiment of the present invention, the detection means further includes a third displacement detector that detects that at least a part of each of the first elastic member and the second elastic member is displaced in the third direction. Contains. According to such a configuration, it is possible to appropriately detect the direction of translational movement in the third direction.

  Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the accompanying drawings.

  Hereinafter, preferred embodiments of the present invention will be specifically described with reference to the drawings.

  1 to 3 show a first embodiment of an operating device according to the present invention. The operating device A1 of the present embodiment includes a case 1 shown in FIG. 1, a stick 2 shown in FIG. 2, and a detection means 3, which translate in directions x, y, and z and rotate in directions of rotation α, β, and γ. A total of six degrees of freedom can be operated. The operating device A1 is a device used for teaching an industrial six-axis robot, for example, and is a so-called global coordinate system based on a fixed position of the robot, or a work point of a tool attached to the end of the robot arm. Is used to perform a total of six degrees of freedom in a so-called tool coordinate system or the like.

  As shown in FIG. 1, the case 1 generally has a flat rectangular parallelepiped shape as a whole, and is made of, for example, resin. Case 1 is for supporting and protecting the stick 2, the detection means 3, and the like. In the case 1, in addition to the stick 2, a driving power switch of the robot, coordinate system switching buttons such as the global coordinate system and the tool coordinate system, and the like are appropriately arranged. A cable 6 is connected to the case 1. The cable 6 is connected to, for example, a control panel (not shown) of the robot, and transmits a user's instruction input by the stick 2, the switch, the button, etc. to the robot via the control panel. It is.

  The stick 2 is used for a user to input an instruction to the operation device A1, and is a rod-shaped member having one end that is substantially spherical. The stick 2 is provided with a button 21a and a protrusion 21b. As shown in FIG. 3, when the button 21 a protrudes upward in the drawing, the protrusion 21 b is stored in the stick 2. On the other hand, when the button 21a is pushed downward in the figure, the protrusion 21b protrudes downward from the stick 2 in the figure. When the protrusion 21 b is in the protruding state, the tip of the protrusion 21 b enters the recess of the support portion 21 c fixed to the case 1. The button 21a, the protrusion 21b, and the support portion 21c are part of the components of the mode switching unit 21 that switches between the translation mode and the rotation mode.

  The stick 2 is slidably supported with respect to the guides 22x and 22y. The guides 22x and 22y are for enabling the stick 2 to translate independently in each of the direction x and the direction y. The guide 22x is supported so as to be able to translate with respect to the case 1 in the direction y. The guide 22y is supported so as to be able to translate with respect to the case 1 in the direction x.

  The detection means 3 includes a control unit 30, one pair of pressure sensors 31x and 31y, two pairs of proximity sensors 32x and 32y, four pairs of touch sensors 33, and one pair of springs 35x and 35y. One end of each pair of springs 35 x and 35 y is connected to the stick 2. The pair of springs 35x are arranged to face each other in the direction x with the stick 2 interposed therebetween, and are stored in the guide 22x. The pair of springs 35y are arranged to face each other in the direction y across the stick 2 and are stored in the guide 22y.

  The pair of pressure sensors 31x and 31y are arranged near both ends of the guides 22x and 22y, respectively. The other ends of the pair of springs 35x and 35y are connected to the pair of pressure sensors 31x and 31y, respectively. Thus, the pair of pressure sensors 31x can detect the direction and magnitude of the elastic force generated in the pair of springs 35x due to the translation in the direction x of the stick 2. Further, the pair of pressure sensors 31y can detect the direction and magnitude of the elastic force generated in the pair of springs 35y due to translation in the direction y of the stick 2.

  Two pairs of proximity sensors 32x and 32y are arranged opposite to each other on the inner surfaces of the guides 22x and 22y with the springs 35x and 35y interposed therebetween. The proximity sensors 32x and 32y are for detecting that the springs 35x and 35y are approaching a certain distance.

  As shown in FIG. 2, the four pairs of touch sensors 33 are arranged near both ends of the guides 22x and 22y. As shown in FIG. 3, each pair of touch sensors 33 is disposed to face each other in the direction z with the spring 35 x or the spring 35 y interposed therebetween. Each touch sensor 33 can detect that the springs 35x and 35y are in contact.

  As shown in FIG. 2, the control unit 30 is connected to one pair of pressure sensors 31x and 31y, two pairs of proximity sensors 32x and 32y, four pairs of touch sensors 33, and one pair of springs 35x and 35y. Has been. The control unit 30 is for calculating the translation amount and the rotation amount of the stick 2 by an algorithm described later. A part of the function of the control unit 30 is a component of the mode switching means 21 described above.

  Next, an operation method using the operation device A1 will be described below.

  First, an operation method in the translation mode in which the stick 2 is translated in the direction x, the direction y, and the direction z will be described. When operating in the translation mode, as shown in FIG. 4, the button 21 a is protruded upward in the figure, and the protrusion 21 b is stored in the stick 2. It is detected by a sensor (not shown) that the button 21a is in the upper position, and the processing of the control unit 30 is switched to the translation mode by this signal.

  FIG. 4 shows a case where the stick 2 is translated in the direction x. The stick 2 is translated leftward in the direction x. By this operation, an elastic force is generated in the pair of springs 35x. If the left side in the direction x diagram is positive, a force (+ Fx) in the same direction acts on each pressure sensor 31x. Here, Fx is an absolute value of the elastic force generated in the spring 35x. When the spring constant of the spring 35x is kx and the translation amount in the direction x of the stick 2 is Δx, Fx = kx × Δx. Therefore, the direction of the translational motion and the translation amount Δx in the direction x of the stick 2 can be detected by taking the outputs from the pair of pressure sensors 31 x into the control unit 30. For example, when the translation of the stick 2 in the direction x corresponds to a translational movement with one degree of freedom in the tool coordinate system of the robot, the working tool of the robot translates with respect to the one degree of freedom. The translation speed at this time is proportional to the translation amount Δx of the stick 2.

  When the stick 2 is moved in the direction y, the elastic force of the pair of springs 35y acts on the pair of pressure sensors 31y as in the translation in the direction x described above. Each pressure sensor 31y detects the absolute value Fy = ky × Δy of the elastic force (ky is the spring constant of the spring 35y, Δy is the translation amount in the direction y of the stick 2) and its direction. The direction of the translational motion and the translation amount Δy in the direction y of the stick 2 can be detected by taking the outputs from the pair of pressure sensors 31y into the control unit 30. The translation in the direction y of the stick 2 corresponds to a translational movement with another degree of freedom in the tool coordinate system.

  As understood from the above description, the translation amount of the stick 2 in the direction x and the direction y can be detected separately using the pair of pressure sensors 31x and 31y. Therefore, even if the stick 2 is translated simultaneously in the direction x and the direction y, the translation amounts in the direction x and the direction y are detected.

  FIG. 5 shows a state in which the stick 2 is translated upward in the direction z. In this case, the pair of springs 35x and 35y are both extended. As illustrated, when a pair of springs 35 x is taken as an example, the extension of each spring 35 x is proportional to the translation amount Δz in the direction z of the stick 2. At this time, if the absolute value of the extension of each spring 35x is Δxz, the pair of pressure sensors 31x have an elastic force (+ Fxz) in which the directions are opposite to each other and the absolute value is Fxz = kx × Δxz ( -Fxz).

  Here, as a case where an elastic force acts on the pair of pressure sensors 31x, the stick 2 may be translated in the direction x as described above. In this case, the elastic force acting on each pressure sensor 31x is an elastic force (+ Fx) that faces in the same direction. Therefore, when the stick 2 is translated simultaneously in the direction x and the direction z, an elastic force of (+ Fx) + (+ Fxz) acts on one pressure sensor 31x, and (+ Fx) acts on the other pressure sensor 31x. ) + (− Fxz) elastic force acts. Therefore, when the control unit 30 calculates the sum of the elastic forces acting on the pair of pressure sensors 31x, only (+ 2Fx) remains. This can be used for detecting the amount of translation in the direction x of the stick 2. On the other hand, if the controller 30 calculates the difference in elastic force acting on the pair of pressure sensors 31x, only (+ 2Fxz) remains. This can be used to detect the absolute value of the translation amount Δz in the direction z of the stick 2. In accordance with this, the translation direction in the direction z of the stick 2 is detected by each pair of touch sensors 33. That is, as shown in FIG. 5, when the stick 2 is translated upward in the drawing, the upper touch sensor 33 in the drawing is turned on. Thereby, the translation direction in the direction z of the stick 2 can be detected. The translation in the direction z of the stick 2 may correspond to, for example, translation in a direction in which the tool advances and retracts with respect to the object in the tool coordinate system. That is, the translation of the stick 2 in the direction x and the direction y corresponds to the translation in the direction orthogonal to the advance / retreat direction. The same applies when translation in the direction y is performed simultaneously with translation in the direction z instead of the direction x.

  As described above, the controller device A1 can independently detect the translation amounts of the stick 2 in the direction x, the direction y, and the direction z.

  Next, an operation method in the rotation mode in which the stick 2 is rotated in the rotation direction α, the rotation direction β, and the rotation direction γ will be described. When operating in the rotation mode, as shown in FIG. 6, the button 21 a is pushed downward in the figure, and the protrusion 21 b is protruded from the stick 2. The protruded protrusion 21b is supported by the support portion 21c. Preferably, the tip shape of the protrusion 21c is spherical, and an elastically deformable recess that fits into the spherical portion is formed in the support portion 21c. When the button 21a is pushed downward in the figure, the spherical portion of the protrusion 21c enters and fits so as to expand the concave portion of the support portion 21c. In this state, the stick 2 is prevented from being translated in the direction x, the direction y, and the direction z, and is only allowed to rotate in the rotation direction α, the rotation direction β, and the rotation direction γ. Further, it is detected by the sensor (not shown) that the button 21a is in the lower position, and the processing in the control unit 30 is switched to the rotation mode by this signal.

  FIG. 6 shows a state in which the stick 2 is rotated in the rotational direction β that is the rotational direction around the direction y-axis. At this time, in the pair of springs 35x, the left spring 35x in the drawing is extended, and the right spring 35x in the drawing is contracted. Thereby, the elastic force (+ Fyβ) having the same direction acts on the pair of pressure sensors 31x. By taking the output from the pair of pressure sensors 31x into the control unit 30, the rotation direction and the rotation amount of the stick 2 in the rotation direction β can be detected. In addition, the detection of the rotation amount in the rotation direction α, which is the rotation direction about the direction x axis of the stick 2, can be performed in the same manner. Even if the stick 2 is simultaneously rotated in the rotation direction α and the rotation direction β, the rotation amounts in the rotation direction α and the rotation direction β can be detected separately.

  FIG. 7 shows a state in which the stick 2 is rotated in the rotation direction γ that is the rotation direction around the direction z-axis. In this case, the pair of springs 35x and 35y are both extended. Taking a pair of springs 35x as an example, due to the extension of the pair of springs 35x, elastic forces (+ Fxγ) and (−Fxγ) acting in different directions act on the pair of pressure sensors 31x. Further, when the stick 2 is simultaneously rotated in the rotation direction β and the rotation direction γ, an elastic force of (+ Fxβ) + (+ Fxγ) acts on one pressure sensor 31x, and ( The elastic force of + Fxβ) + (− Fxγ) acts. Therefore, when the control unit 30 calculates the sum of the elastic forces acting on the pair of pressure sensors 31x, only (+ 2Fxβ) remains. This can be used to detect the amount of rotation of the stick 2 in the rotation direction β. On the other hand, if the controller 30 calculates the difference in elastic force acting on the pair of pressure sensors 31x, only (+ 2Fxγ) remains. This can be used to detect the absolute value of the rotation amount of the stick 2 in the rotation direction γ. Of the two pairs of proximity sensors 32x that sandwich the pair of springs 35x, the proximity sensors 32x located at the upper left in the drawing and the lower right in the drawing are in the on state. By taking this output into the control unit 30, the direction of rotation of the stick 2 in the rotation direction γ can be detected. The same applies when the rotation in the rotation direction α is performed simultaneously with the rotation in the rotation direction γ instead of the rotation direction β. In addition, even when the stick 2 is rotated in the rotational direction α and the rotational direction β and further rotated in the rotational direction γ, the stick 2 acts on the pair of pressure sensors 31x and 31y. The amount of rotation in each of the rotation directions α, β, and γ can be independently detected by calculating the elastic force in the control unit 30.

  As described above, the controller device A1 can independently detect the rotation amounts of the stick 2 in the rotation direction α, the rotation direction β, and the rotation direction γ. The rotation in the rotation direction α, the rotation direction β, and the rotation direction γ corresponds to the rotation around the translation direction axis of the tool coordinate system corresponding to the direction x, the direction y, and the direction z. Further, the rotation amount of the stick 2 in the rotation direction α, the rotation direction β, and the rotation direction γ is proportional to the rotation speed of the tool corresponding to each rotation direction.

  Next, the operation of the controller device A1 will be described.

  According to the present embodiment, it is possible to input an instruction with six degrees of freedom using one stick 2. The user is not forced to perform a cumbersome operation such as using a plurality of switches for the operation with six degrees of freedom. Therefore, a user's feeling of fatigue can be reduced. Further, by properly using the translation mode and the rotation mode, there is no possibility that the translation operation and the rotation operation will be mistakenly mistaken. This is advantageous, for example, in preventing the robot and its surrounding machines from being damaged by operating the robot erroneously. Further, an operation method in which a translation operation is performed when the tool is translated and a rotation operation is performed when the tool is rotated is an operation relatively close to a user's sense. Therefore, it is possible to suppress erroneous operations and to reduce the user's feeling of fatigue.

  By making the translation speed and rotation speed of the tool proportional to the translation amount and rotation amount of the stick 2, the user can apply more force to the fingertip when operating at a higher speed. This is effective for making a person naturally aware that the robot is operating at a high speed, and is preferable for safely operating the robot. Further, since the stick 2 can be naturally returned to the neutral position, it is not necessary to return to the neutral position, and is suitable for reducing the work burden on the user. Moreover, when the operator removes his / her finger, the stick 2 returns to the neutral position and the robot is also stopped.

  By utilizing the expansion and contraction of each pair of springs 35x and 35y, both the translation amount and the rotation amount can be detected. Therefore, it is possible to make the operating device A1 have a simple configuration, which is suitable for reducing the weight of the operating device A1 and improving the ease of operation. By providing the mode switching means 21 with the protrusion 21b and the support portion 21c, the mode switching means 21 has a function as an operation mode switching means in the present invention in addition to a function as a detection mode switching means in the present invention. ing. Thereby, it is possible to prevent the stick 2 from being unduly rotated by, for example, an operation of translating the stick 2. This is suitable for providing an operation suitable for the user's sense.

  As a modification of the above embodiment, a switch constituting the mode switching means 21 may be provided separately from the stick 2. The translation and rotation of the stick 2 can be detected only by switching the processing of the control unit 30 by turning the switch on / off.

  8 to 12 show a second embodiment of the operating device according to the present invention. As shown in FIG. 8, the operating device A2 of this embodiment is different from the first embodiment described above in that it includes two sticks 2A and 2B. In FIG. 8 and subsequent figures, elements similar to those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  The stick 2A is for inputting instructions for translation in the direction x, the direction y, and the direction z, and the stick 2B is for inputting instructions for rotation in the rotation direction α, the rotation direction β, and the rotation direction γ. . Further, the controller device A2 includes a control unit (not shown) similar to the controller device A1 described above.

  As shown in FIG. 9, the stick 2A is supported by three sliders 4x, 4y, and 4z. The sliders 4x, 4y, and 4z are for translating the stick 2 in the direction x, the direction y, and the direction z and detecting the translation amount. The slider 4z is fixed to the case 1.

  FIG. 10 shows a cross section of the slider 4x. As shown in the figure, the slider 4 x includes a housing 41, a pair of springs 42, a plurality of electrodes 43, and contacts 44. The control unit can detect that the tip of the stick 2 and each electrode 43 are in contact with each other when they are in contact with each other. The stick 2 can be translated in the direction x and is naturally returned to the neutral position by a pair of springs 42. When the stick 2 is translated in the direction x, each electrode 43 and the stick 2 are electrically connected according to the translation amount. Based on this conduction state, the translation direction and translation amount in the direction x of the stick 2 can be detected by the control unit. The sliders 4y and 4z have the same configuration as that of the slider 4x, and the translation directions are perpendicular to each other. As described above, by combining the three sliders 4x, 4y, and 4z, translational movements of the stick 2 in the direction x, the direction y, and the direction z can be detected independently.

  FIG. 11 is an overall perspective view showing the stick 2B and the detection means 5 that supports the stick 2B. The detecting means 5 includes frames 51α and 51β, springs 52α and 52β, a plurality of electrodes 53α and 53β, and contacts 54α and 54β.

  The stick 2 </ b> B has a belt-like portion 27. The belt-like portion 27 is supported by a through pin with respect to the frame 51α. Thereby, the stick 2B is supported so as to be rotatable in the rotation direction α with respect to the frame 51α. The pair of springs 52α is for naturally returning the stick 2B to the neutral position. A contact 54α is provided at the tip of the belt-like portion 27. A plurality of electrodes 53α are arranged inside the arc portion of the frame 51α. When the stick 2B is rotated in the rotation direction α, the contact 54α and each electrode 53α come into contact according to the amount of rotation. It can be detected by the control unit that the contact 54α and one of the plurality of electrodes 53α are brought into conduction by this contact. Thereby, the amount of rotation of the stick 2B in the rotation direction α can be detected by the control unit.

  The frame 51α is supported so as to be rotatable in the rotation direction β with respect to the frame 51β. The pair of springs 52β is for naturally returning the frame 51α to the neutral position. A contact 54β is provided at the lower end of the frame 51α in the figure. A plurality of electrodes 53β are arranged inside the arc portion of the frame 51β. When the stick 2B is rotated in the rotation direction β, the frame 51α is rotated in the rotation direction β with respect to the frame 51β accordingly. At this time, the contact 54β comes into contact with each electrode 53β according to the rotation amount. The amount of rotation of the stick 2B in the rotation direction β can be detected by detecting conduction between the contact 54β and each electrode 53β by the control unit.

  Furthermore, the stick 2 </ b> B has a configuration in which a cylindrical portion 25 and a shaft portion 26 are combined as shown in FIGS. 11 and 12. The cylindrical portion 25 is supported so as to be rotatable in the rotation direction γ with respect to the shaft portion 26. As shown in FIG. 12, the shaft portion 26 is provided with a contact 54γ. On the inner surface of the cylindrical portion 25, a plurality of electrodes 53γ are arranged in the circumferential direction. The pair of springs 52γ is for naturally returning the cylindrical portion 25 to the neutral position in the rotational direction γ. When the cylindrical portion 25 is rotated in the rotation direction γ, the contact 54γ and each electrode 53γ sequentially contact with each other according to the rotation amount. The amount of rotation of the cylindrical portion 25 in the rotational direction γ can be detected by detecting conduction between the contact 54γ and each electrode 53γ by the control unit.

  Also with such a configuration, it is possible to appropriately input and input three translation operations and three rotation operations. By providing the two sticks 2A and 2B, it is suitable for inputting a translation operation and a rotation operation simultaneously. For example, if left and right fingers are separately attached to the sticks 2A and 2B, various operations can be easily performed.

  The operating device according to the present invention is not limited to the above-described embodiment. The specific configuration of each part of the operating device according to the present invention can be modified in various ways.

  The size of the instruction means and the detection means shown in the figure is a ratio that facilitates understanding of the structure for convenience of explanation. Of course, any structure that can appropriately perform the above-described functions can be used, and it is possible to change the size and ratio to be suitable for incorporation in the operating device. The elastic member referred to in the present invention is not limited to a spring, and may be an elastic member that can appropriately generate an elastic force.

  The operation device according to the present invention is suitable for use in the teaching work of the above-described 6-axis robot, but is not limited to the 6-axis robot, and is suitable for teaching work of an auxiliary axis (slider, positioner, etc.) of the 6-axis robot. Yes. In addition, the application is not limited to these industrial robots, and it is suitable for wide use for multi-degree-of-freedom instruction input such as a joystick for games.

1 is an overall plan view showing a first embodiment of an operating device according to the present invention. It is a principal part top view of 1st Embodiment of the operating device which concerns on this invention. It is principal part sectional drawing in alignment with the III-III line of FIG. It is principal part sectional drawing which shows the use condition in the translation mode of the operating device shown in FIG. It is principal part sectional drawing which shows the use condition in the translation mode of the operating device shown in FIG. It is principal part sectional drawing which shows the use condition in rotation mode of the operating device shown in FIG. It is a principal part top view which shows the use condition in rotation mode of the operating device shown in FIG. It is a whole top view which shows 2nd Embodiment of the operating device which concerns on this invention. It is a principal part perspective view which shows the instruction | indication means for translation of the operating device shown in FIG. It is principal part sectional drawing which follows the XX line of FIG. It is a principal part perspective view which shows the instruction | indication part for rotation of the operating device shown in FIG. It is principal part sectional drawing which follows the XII-XII line | wire of FIG. It is a principal part perspective view which shows an example of the conventional instruction | indication means.

Explanation of symbols

A1, A2 Operating device x (first) direction y (second) direction z (third) direction α x (first) rotation direction around axis (y) rotation direction around y (second) axis γ z (third ) Direction of rotation around the axis 1 Case 2, 2A, 2B Stick (instruction means)
3 Detection means 4x, 4y, 4z Slider 5 Detection means 6 Cable 21 (Detection and operation) Mode switching means 21a Button 21b Protrusion 21c Support portion 22x, 22y Guide 25 Cylindrical portion 26 Shaft portion 27 Strip portion 30 Control portion 31x Pressure sensor ( First detector)
31y Pressure sensor (second detector)
32x proximity sensor (first displacement detector)
32y proximity sensor (second displacement detector)
33 Touch sensor (third displacement detector)
35x Spring (first elastic member)
35y spring (second elastic member)
41 Housing 42 Spring 43 Electrode 44 Contact 51α, 51β Frame 52α, 52β, 52γ Spring 53α, 53β, 53γ Electrode 54α, 54β, 54γ Contact

Claims (8)

Indicating means capable of translating independently along each of the first direction and the second direction orthogonal to each other;
Detection means capable of independently detecting the first direction translation amount and the second direction translation amount of the instruction means;
An operating device comprising:
The indicating means can be independently translated along a third direction orthogonal to the first direction and the second direction,
The operating device according to claim 1, wherein the detecting means is capable of further independently detecting the translation amount in the third direction of the instruction means. Indicating means capable of independently rotating around each of a first axis and a second axis extending along a first direction and a second direction orthogonal to each other;
Detecting means capable of independently detecting the amount of rotation about the first axis and the amount of rotation about the second axis of the indicating means;
An operating device comprising:
The indicating means is further independently rotatable around a third axis extending along a third direction orthogonal to the first direction and the second direction,
The operating device according to claim 1, wherein the detecting means is capable of further independently detecting the rotation amount of the instruction means about the third axis. A translating or rotating indicating means;
Detection means capable of detecting a translation amount or a rotation amount of the instruction means;
An operating device comprising:
The indicating means can translate independently along a first direction, a second direction, and a third direction orthogonal to each other, and extends along the first direction, the second direction, and the third direction. Independently rotatable about each of the first, second, and third axes;
The detecting means includes the first-direction translation amount, the second-direction translation amount, and the third-direction translation amount of the instruction means, the first-axis rotation amount of the instruction means, and the second-axis rotation amount. An operation device characterized in that the amount and the amount of rotation about the third axis can be detected independently.   Detection mode switching means for switching the detection mode between a translation amount detection mode for detecting only the translation amount of the instruction means and a rotation amount detection mode for detecting only the rotation amount of the instruction means. The operating device according to claim 3 further provided.   4. An operation mode switching means for switching an operation mode between a translation mode that allows only translation and prevents rotation and a rotation mode that allows only rotation and prevents translation. Or the operating device of 4.   In the first direction, the detecting means detects a pair of first elastic members arranged opposite to each other with the indicating means interposed therebetween, and a pair of first elastic members that detect an elastic force generated in the pair of first elastic members. One detector, a pair of second elastic members disposed opposite to each other with the indicating means in the second direction, and a pair of second elastic members that detect elastic force generated in the pair of second elastic members. The operating device according to claim 3, comprising two detectors.   The detection means includes a first displacement detector that detects that at least a part of the first elastic member is displaced in the second direction, and at least a part of the second elastic member is displaced in the first direction. The operating device according to claim 6, further comprising: a second displacement detector that detects this.   The detection means according to claim 6, further comprising a third displacement detector that detects that at least a part of each of the first elastic member and the second elastic member is displaced in the third direction. Operating device.

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