JP3997138B2 - Handheld operating device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a hand-held operation device that is operated by being held by a hand such as a teaching operation device used for setting operation contents to be executed by a taught device such as an industrial robot.
[0002]
[Prior art]
An operation teaching operation at the initial stage and at the time of adjustment of a mechanical device such as an industrial robot is performed by operating a portable teaching operation device also called a teaching pendant. At the time of teaching work, the operator must operate the teaching operation device gripped by both hands in the vicinity of the movable part of the mechanical device, so that failure of the mechanical device or operation mistake of the teaching operating device may lead to a serious accident. Exposed to serious danger.
[0003]
As a means for avoiding the danger of the operator at the time of teaching work for such a mechanical device, the teaching operation device is provided with an operable switch together with an operation switch for receiving an instruction input for outputting an operation signal of the mechanical device. . This operable switch is also called a deadman switch, and is a manual operation device for enabling the operation of the mechanical device only while being held at a predetermined position. That is, only when the enable signal is output from the operable switch, the operation signal of the turned-on operation switch is validated, and teaching work for the mechanical device becomes possible (see, for example, Patent Documents 1 and 2). .
[0004]
For example, while the operator pushes the operable switch and turns it on to teach the operation of the mechanical device by operating the operational switch, the mechanical device is malfunctioning due to a failure of the mechanical device or an operation error of the teaching operation device. If the operator performs an operation not intended by the operator, the operator releases the finger from the operable switch or releases the teaching operation device, so that the operable switch is turned off and the operation signal for the mechanical device is invalidated. The mechanical device can be stopped.
[0005]
However, when the mechanical device performs an operation not intended by the worker, the worker's action is not only to release the finger from the operable switch, to let go of the teaching operation device, but to push the operable switch more strongly. In some cases, the teaching operation device is tightened more strongly. Therefore, as an operable switch, a normal two-position switch that simply turns on / off in accordance with the presence or absence of pressing is insufficient.
[0006]
For this reason, in the conventional teaching operation device, when it is lightly pushed in from the first position in the off state where the pressing operation is not performed, it is displaced to the second position in the on state. A three-position switch that is displaced in the direction is used as an operable switch. The three-position operable switch returns from the third position to the first position without passing through the second position in the on state. In order to avoid danger, it is necessary for the machine device to completely stop the operation until the operator who pushes the operable switch to the third position finishes releasing the finger from the operable switch after the machine device is stopped. Because.
[0007]
On the other hand, depending on the environment in which the teaching operation device is used, a request for operating the operable switch with the operator's right hand, left hand, or both hands is different. In addition, it is not preferable to provide an extra operable switch that is not used because it increases the cost. For this reason, as the teaching operation device, the operable switch is arranged only in the right hand operation position that can be operated by the operator's right hand and used in the right hand operation state, only the left hand operation position that can be operated by the operator's left hand. It is necessary to prepare at least three types, one arranged in the left hand operation state and one used in the right hand operation position and the left hand operation position and used in the two hand operation state.
[0008]
Here, when the enable signal is output from the operable switch to the control unit of the mechanical device, the operation switch is disposed only in the right hand operation position and the operation switch is disposed only in the left hand operation position. Although the output processing of the enable signal is common, the output processing of the enable signal is different from those in which the operable switch is arranged at both the right hand operation position and the left hand operation position. That is, it is necessary to create a single enable signal that is turned on / off based on the operation state of each of the two operable switches. For this reason, in the conventional teaching operation device in which the operable switch can be arranged at both the right hand operation position and the left hand operation position, it is safe to create a single enable signal corresponding to the operation state of each of the two operable switches. A circuit is provided (see, for example, Patent Document 3).
[0009]
[Patent Document 1]
Japanese Utility Model No. 60-153787 microfilm
[Patent Document 2]
JP 2002-059383 A
[Patent Document 3]
JP2002-083522
[0010]
[Problems to be solved by the invention]
However, in the conventional teaching operation device, there are three types of switches, that is, the operable switch is disposed only at the right hand operation position, the operation switch is disposed only at the left hand operation position, and the operation switch is disposed at both the right hand operation position and the left hand operation position. A case was prepared and manufactured using one of three types of cases as required. For this reason, there has been a problem that the manufacturing cost increases and inventory management becomes complicated. In addition, there is a problem that the operation state cannot be changed on the user side according to the work content and the like. Furthermore, when the operable switch is mounted on the board in the teaching operation device, there is a problem that the operating force of the operable switch cannot be changed according to the preference of the operator. Such a problem occurs not only in the teaching operation device but also in other hand-held operation devices.
[0011]
The object of the present invention should be prepared by attaching the operable switch via a support member that can handle both the case where the operable switch is arranged only in the right-hand operation position and the case where the operation switch is arranged only in the left-hand operation position. Hands that can reduce the types of chassis and support members, reduce manufacturing costs, and simplify inventory management, and can change the operating state and operating force of the operable switch on the user side. It is to provide an operating device.
[0012]
[Means for Solving the Problems]
The present invention has the following configuration as means for solving the above problems.
[0013]
  (1) In a handheld operating device having an operable switch that outputs an enable signal during operation,
  EnclosureA single opening is formed in a range including a portion facing both hands holding the housing from the side surface on the back side of
  So as to cover the entire surface of the opening.Either right-handed operation, left-handed operation or two-handed operation that is detachably attached to the housingSingle partAttach the operable switch via a support member,
  The operable switch has a shape that is symmetrical in the vertical direction,
  The support member for the right hand operation and the support member for the left hand operation have the same shape that is rotationally symmetric in the opening, and the operable switch is disposed at a position biased to one side in the left-right direction, and the opening Is attached to the right hand operation position or the left hand operation position of the housing in a state in which the right hand operation position and the left hand operation position are symmetrical in the left-right direction.
  The support member for two-hand operation arranges the two operable switches in a symmetrical position in the left-right direction, and is attached to the opening so that the operable switch can be operated in the right-hand operation position and the left-hand operation of the housing. At both positions, the right hand operation position and the left hand operation position are attached symmetrically in the left-right direction.It is characterized by that.
[0014]
  In this configuration, the operable switch that outputs an enable signal at the time of operation has a right-hand operation position, a left-hand operation position, or both-hand operation in the housing via a support member for right-hand operation, left-hand operation, or two-hand operation. It is selectively mounted at any of the operation positions. Therefore, the operable switch is selectively disposed at any of the right hand operation position, the left hand operation position, and the two-hand operation position in a single type of housing, and the number of types of housings to be prepared is reduced.
  Further, the operable switch that exhibits a shape that is symmetrical in the vertical direction is attached to at least one of the right-hand operation position and the left-hand operation position of the housing via a support member that exhibits a rotationally symmetric shape. Therefore, each of the right hand operation state and the left hand operation state of the operable switch is realized by whether or not the single support member is rotated 180 degrees so that the front and back surfaces are not reversed. If a single-shaped housing with a mounting part on which the support member can be detachably attached at a position including the position is prepared, it can be operated to the right-hand operation position or the left-hand operation position of the housing via the single-shaped support member. A possible switch is attached. Thus, it is not necessary to prepare a right-hand operation casing and a left-hand operation casing separately.
  Further, by disposing the operable switch on both sides of the support member in the left-right direction, the two-hand operation state of the operable switch is realized by the support member having a single shape.
[0015]
(2) The support member for the two-hand operation includes a safety circuit that generates a single enable signal based on operation states of two operable switches.
[0016]
In this configuration, the operation state of the two operable switches is used for the two-handed operation support member used when a total of two operable switches are attached to both the right hand operating position and the left hand operating position of the housing. A safety circuit is provided that creates a single enable signal from the. Therefore, a single enable signal is output from the safety circuit as in the right hand operation state or the left hand operation state even in the two-hand operation state in which the support member is individually attached to each of the right hand operation position and the left hand operation position of the housing, It is not necessary to change the configuration and processing contents of a control circuit such as a teaching apparatus that receives an enable signal according to the operating state of the operable switch.
[0020]
  (3) A safety circuit that creates a single enable signal based on the operating state of two operable switches, and a switching means that receives a setting input for enabling or disabling the safety circuit are provided. It is characterized by that.
[0021]
In this configuration, a single enable signal is output in the two-hand operation state in which a total of two operable switches are attached to both the right-hand operation position and the left-hand operation position of the housing in the same manner as in the right-hand operation state or the left-hand operation state. The safety circuit to be created is provided in a state that can be selectively activated by the switching means. Therefore, when the support member is individually attached to each of the right hand operation position and the left hand operation position of the housing, the safety circuit is selectively enabled by the switching means between the two-hand operation state and the right-hand operation state or the left-hand operation state. By disabling, a single enable signal is output from the safety circuit in the two-handed operation state as in the right-handed operation state or the left-handed operation state, and the configuration and processing of the control circuit such as the taught device that receives the enable signal input It is not necessary to change the contents according to the operation state of the operable switch.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a hand-held operating device according to an embodiment of the present invention will be described with reference to an example of a pendant used for setting operation contents to be executed by a taught device such as an industrial robot.
[0023]
FIG. 1 is a front view of a pendant which is a handheld operating device according to an embodiment of the present invention. A display panel 11 such as an LCD is arranged at the center of the front surface of the pendant 10 casing. A plurality of transparent operation keys 12 are provided on the transparent touch switch at both end portions on the upper surface of the display panel 11. The operation key 12 is displaced downward during a pressing operation and turns on a touch switch disposed on the upper surface of the display panel 11. A plurality of push button switches 13 are arranged above the display panel 11 in front of the pendant 10. The operation key 12 and the push button switch 13 correspond to the operation switch of the present invention, and receive an instruction input for outputting an operation signal assigned thereto. In particular, the operation key 12 is assigned the contents of the switch image in each screen displayed on the display panel 11. The display panel 11 itself can also be used as an operation switch by a touch panel.
[0024]
Grasping bodies 14 a and 14 b are formed on the left and right side portions of the pendant 10. At the time of teaching operation of an operation to a taught apparatus such as an industrial robot (not shown), an operator holds the pendant 10 with both hands on the holding bodies 14a and 14b from both sides, and mainly uses the thumb to operate the operation key 12 or the push button switch 13. To operate. The pendant 10 is connected to the control circuit of the teaching device via the cable 18, and the operation signal assigned to the operation key 12 or the push button switch 13 operated by the operator is used as a teaching signal as the control circuit of the teaching device. Is input.
[0025]
  FIG. 2 shows the present invention.ofIt is a rear view of the pendant which is the teaching operation apparatus which concerns on embodiment. Concave portions 15a and 15b are formed on the rear surface of the pendant 10 in a continuous manner with the grip bodies 14a and 14b, and the corners formed between the grip bodies 14a and 14b and the concave portions 15a and 15b are operated. The possible switches 1a and 1b are arranged via a support member 2a for right-hand operation, a support member 2b for left-hand operation, or a support member 3 for two-hand operation. The support members 2a, 2b, and 3 are all detachable from the housing of the pendant 10. The operable switch 1a is attached to a right hand operation position where four fingers are opposed to each other except for the thumb of the right hand of the operator who holds the right grip 14a as viewed from the front of the pendant 10. The operable switch 1b is attached to the left hand operation position where four fingers except the thumb of the left hand of the operator holding the left grip 14b as viewed from the front of the pendant 10 face each other.
[0026]
The operable switches 1a and 1b are all three-position operable switches. The first contact position is a non-operating state, the second position is lightly pushed from the first position, and the second position is strong. When the operating force is released from the third position, the position is returned to the first position without going through the second position.
[0027]
Each of the operable switches 1 a and 1 b has a shape that is symmetrical in the vertical direction when attached to the pendant 10. Therefore, when the operable switch 1a attached to the right hand operating position is rotated 180 degrees so that the front and back surfaces are not reversed, the operable switch 1b is attached to the left hand operating position and can be operated with the operable switch 1a. The switch 1b is the same part having the same shape.
[0028]
As shown in FIG. 2 (A), a right-hand operation state in which the operable switch 1a is attached only to the right-hand operation position of the housing of the pendant 10 via the support member 2a for right-hand operation, or as shown in FIG. 2 (B). Thus, in the left hand operation state in which the operable switch 1b is attached only to the left hand operation position of the housing of the pendant 10, a single enable signal based on the operation state of the operable switch 1a or the operable switch 1b is output. Further, as shown in FIG. 2C, in the two-handed operation state in which the operable switches 1a and 1b are attached to both the right-handed operating position and the left-handed operating position, both of the operable switches 1a and 1b are operated by the safety circuit described later. A single enable signal based on the operating state is output.
[0029]
Each of the support members 2a and 2b used in the right-handed operation state pendant 10 and the left-handed operation state pendant 10 is attached to the housing of the pendant 10 in either the right side operation position or the left side operation position. On the other hand, the support portion 21 of the operable switch 1a, 1b is located, and has a shape that is symmetrical in the vertical direction. Therefore, when the support member 2a attached to the housing of the pendant 10 is rotated 180 degrees so that the front and back surfaces are not reversed so that the support portion 21 is positioned at the right hand operation position, the support portion 21 is at the left hand operation position. The support member 2b is attached to the housing of the pendant 10 so as to be positioned. That is, the support member 2a and the support member 2b are the same parts having the same shape.
[0030]
The support member 3 used for the pendant 10 in the two-handed operation state is such that the support portions 21 of the operable switches 1a and 1b are positioned at both the right operation position and the left operation position of the housing while being attached to the housing of the pendant 10. And a shape compatible with the supporting members 2a and 2b, and a safety circuit 4 is mounted. The safety circuit 4 creates a single enable signal based on the operation states of the two operable switches 1a and 1b. For example, the safety circuit 4 can be configured as described in Patent Document 3.
[0031]
2A or 2B in the right-handed operation state or the left-handed operation state, the control unit of the teaching apparatus receives the input of the enable signal from only one of the operable switches 1a and 1b. In order to input an enable signal based on the operation state of the two operable switches 1a and 1b shown in FIG. 2 (C) in a so-called plug compatible state without changing the configuration and processing contents, A single enable signal based on the operation state of the two operable switches 1a and 1b must be created on the pendant 10 side.
[0032]
Therefore, when the same component operable switch is used in the supporting members 2a and 2b and the supporting member 3, as shown in FIG. 3A, the operable switch 1a is provided on the substrate 5 on which the safety circuit 4 is configured. , 1b connectors 51, 51 and a single enable signal output terminal created by the safety circuit 4 for the operable switches 1a, 1b provided on the control board 16 inside the pendant 10. A connector 52 connected to either the connector 16a or 16b is provided. When this configuration is applied to the support members 2a and 2b used in the right-handed operation state or the left-handed operation state, the total height of the connector 51, the substrate 5, and the connector 52 is obtained as shown in FIG. A spacer 53 having a comparable height is attached to the connectors 16 a and 16 b of the control board 16.
[0033]
The support members 2a, 2b, and 3 constitute a part of the back surface of the pendant 10 casing. Accordingly, the support members 2a, 2b, and 3 are formed in a thin plate shape using the same material as the housing of the pendant 10, and are attached to the back surface of the housing of the pendant 10 via, for example, a set screw. Further, the operable switches 1a and 1b are fixed to the support portions 21 of the support members 2a, 2b, and 3 through, for example, set screws.
[0034]
With the above configuration, according to the pendant 10 that is the teaching operation device according to this embodiment, the right hand of the switch that can be operated by attaching the support member 2a or the support member 2b, which are the same parts, to a single configuration housing. An operation state or a left-hand operation state can be realized, and a two-hand operation state of the operable switch can be realized by attaching the support member 3. Further, one operable switch that is used in the right-handed operating state and the left-handed operating state and that is used in the two-handed operating state is constituted by the same component. Therefore, by preparing the housing of the single pendant 10, the two types of support members 2a (2b) and 3, and the single operable switch 1a (1b), three types of operations on the pendant 10 are performed. It is possible to cope with all the usage states of the possible switches, reduce the types of parts to be prepared, reduce the manufacturing cost, and facilitate inventory management.
[0035]
In addition, it is possible to cope with a subsequent change in the use state of the operable switch by exchanging the support members 2a, 2b, and 3, and it is possible to change the operation state and the operation force of the operable switch on the user side.
[0036]
FIG. 4 is an external view of the opened state showing the internal structure as seen from the back side of the pendant which is a handheld operating device according to another embodiment of the present invention. Inside the pendant 10 is housed a control board 16 on which electronic components are mounted. The control board 16 is provided with connectors 16a and 16b into which the terminals of the operable switches 1a and 1b are inserted. The safety circuit 4 is configured in advance on the control board 16, and it is selected whether the safety circuit 4 is to be enabled or disabled by operating the changeover switch 16c which is the switching means of the present invention. According to this configuration, it is not necessary to provide the support member 3 with the safety circuit 4.
[0037]
Further, the LEDs 16d and 16e, which are display means of the present invention, are provided on the back side of the control board 16, and the translucent members 17a and 17b (see FIG. 2) at the positions facing the LEDs 16d and 16e in the support members 2a, 2b and 3. .). By turning on the LED 16e when the safety circuit 4 is enabled by operating the changeover switch 16c, it is possible to confirm the signal processing state of the operable switches 1a and 1b from the outside even when the pendant 10 is closed. it can. In this case, it is possible to operate the operator by marking, for example, “Use one of the switches” and “Use both switches” near the translucent member on the back of the pendant 10. How to use the switch can be presented.
[0038]
Note that the difference between the right-handed operation state and the left-handed operation state can be displayed by lighting the LED. Further, the lighting state of the LED may be visible from the front side of the housing of the pendant 10 or may be displayed on the display panel 11.
[0039]
Furthermore, the selection of whether to enable or disable the safety circuit 4 may be performed using the operation key 12 or the push button switch 13 provided on the front side of the pendant 10. In this case, by operating the operation key 12 or the push button switch 13 in a specific operation state different from the normal operation state instructing the output of the operation signal to the teaching apparatus, the operation key 12 or the push button switch 13 is operated. The safety circuit 4 can be used to select whether to enable or disable. As described above, the operation state of the operable switch in the pendant 10 can be easily set by enabling the operation key 12 and the push button switch 13 to be used for selecting the validity / invalidity of the safety circuit 4 by operating a so-called hidden key. Therefore, it is possible to ensure the safety of teaching work for the teaching target device. In addition, if the operation key 12 or the push button switch 13 is operated in a specific operation state to enter the effective / invalid selection mode of the safety circuit 4 and guidance such as a selection operation method is displayed on the display panel 12, The selection operation can be performed accurately.
[0040]
In order to strictly maintain the safety during teaching work, there are cases where it is necessary to prohibit subsequent changes in the operating state and operating force of the operable switch on the user side. In this case, the terminal of the operable switch should be connected to the control board by soldering without using a connector.
[0041]
  FIG. 5 and FIG.Reference exampleIt is the external view and assembly drawing of the supporting member used for the pendant which is a hand-held operation apparatus.. BaeIn the silent 10, each of the operable switches 1 a and 1 b is attached to the right hand operation position and the left hand operation position of the housing via the individual support members 6. The support member 6 is formed in a shape along the right hand operation position and the left hand operation position on the rear surface of the housing of the pendant 10, and is fixed to the housing via a set screw 7 as an example.
[0042]
A recess 61 having an opening 62 is formed at the center of the support member 6. The switch body 101 of the operable switch 1a (1b) is fixed to the opening 62 from the inner surface via a fixing screw 63. At this time, the operation piece 101 a of the switch body 101 is exposed in the recess 61 from the opening 62. On the upper and lower side surfaces in the recess 61, the pins 64 protrude to face each other. The terminal 101b protruding from the switch body 101 is connected to the control board 16 by a connector method with a lead wire, a direct insertion method, or soldering.
[0043]
The operation cover 102 of the operable switch 1a (1b) is inserted into the recess 61. The operation cover 102 has a protrusion 102a protruding from the inner side surface and a hole portion 102b formed on the upper and lower side surfaces. A pin 64 is inserted into the hole 102 b of the operation cover 102 inserted into the recess 61. As a result, the operation cover 102 is rotatably supported in the recess 61. The protrusion 102 a of the operation cover 102 abuts on the operation piece 101 a of the switch body 101 in the rotational direction of the operation cover 102 while being inserted into the recess 61.
[0044]
With this configuration, when the operable switch 1 a (1 b) is attached to the support member 6, the pressing operation force acting on the operation cover 102 is transmitted to the operation piece 101 a via the protrusion 102 a, and the contact in the switch body 101 Works.
[0045]
The support member 6 has a shape that is symmetrical in the vertical direction when attached to the housing of the pendant 10. Therefore, when the front and back surfaces are not reversed from the state where they are attached to the right hand operation position of the housing and are rotated 180 degrees, they are attached to the left hand operation position of the housing. For this reason, the single-type support member 6 that supports the operable switch 1a (1b) is attached to one or both of the right-hand operation position and the left-hand operation position of the housing, thereby enabling the operation switch in the pendant 10. All the use states of the right hand operation state, the left hand operation state, and the two-hand operation state are realized.
[0046]
When the indication member 6 is attached to only one of the right hand operation position and the left hand operation position in the housing of the pendant 10 and used in the right hand operation state or the left hand operation state, the left hand operation position where the instruction member 6 cannot be attached. Alternatively, by attaching a lid member having at least the same surface shape as that of the pointing member 6 to the right hand operation position, the sealed state inside the housing is maintained.
[0047]
In both the first embodiment and the second embodiment, between the pendant 10 and the support members 2a, 2b, 3, 6 and between the support members 2a, 2b, 3, 6 and the operable switch 1a. , 1b is preferably a water-proof structure by disposing rubber packing or the like.
[0048]
Further, in both the first embodiment and the second embodiment, as the operable switches 1a and 1b, push button switches provided with operation members that are operated from the back side to the front side of the housing of the pendant 10 are provided. It can also be used. In this case, the operable switches 1a and 1b do not have to be symmetrical in the vertical direction.
[0049]
Furthermore, in the first embodiment, when the support member 2a and the support member 2b are separate parts, the support members 2a, 2b, and 3 may be asymmetric in the vertical direction. Also in this case, the pendant 10 for the right hand operation, the left hand operation, and the two-hand operation can be selectively configured using a single-shaped housing.
[0050]
【The invention's effect】
According to the present invention, the following effects can be obtained.
[0051]
(1) A right-hand operation position, a left-hand operation position, or a two-hand operation position in the housing via a support member for right-hand operation, left-hand operation, or two-hand operation, with an operable switch that outputs an enable signal during operation. By making it possible to selectively attach to any of the above, a switch that can be selectively operated can be arranged at any of the right hand operation position, left hand operation position, or both hand operation position in a single type of housing. By reducing the number of types of casings to be prepared, it is possible to reduce the manufacturing cost and facilitate inventory management.
[0052]
(2) A support member for two-hand operation that is used when a total of two operable switches are attached to both the right hand operating position and the left hand operating position of the housing. By providing a safety circuit that creates one enable signal, the two-handed operation state in which the support member is individually attached to each of the right-handed operation position and the left-handed operation position of the housing is similar to the right-handed operation state or the left-handed operation state. A single enable signal can be output from the safety circuit, so that it is not necessary to change the configuration of the control circuit and the processing content of the taught device according to the operating state of the operable switch.
[0053]
(3) By attaching an operable switch exhibiting a shape symmetric in the vertical direction to at least one of the right-hand operation position and the left-hand operation position of the housing via at least a support member exhibiting a shape symmetric in the vertical direction Each of the right hand operation state and the left hand operation state of the operable switch can be realized by whether or not the single support member is rotated 180 degrees so that the front and back surfaces are not reversed. If a single-shaped housing having a mounting portion on which the support member can be detachably attached at a position including the left-hand operation position is prepared, the right-hand operation position or the left-hand operation of the housing can be performed via the single-shape support member. An operable switch can be attached to the position. As a result, there is no need to prepare a right-hand operation case and support member separately from a left-hand operation case and support member, and the types of cases and support members to be prepared are reduced, resulting in low manufacturing costs. And easy inventory management.
[0054]
Further, when the support member is a member that is individually attached to each of the right hand operation position and the left hand operation position of the housing, the two support members are simultaneously attached to the right hand operation position and the left hand operation position of the housing. Thus, the right-handed operation state, the left-handed operation state, and the two-handed operation state of the operable switch can be realized by the single-shaped casing and the single-shaped support member. As a result, it is not necessary to prepare a housing and support member for right-hand operation, a housing and support member for left-hand operation, and a housing and support member for two-hand operation. The types of members can be further reduced, manufacturing costs can be further reduced, and inventory management can be facilitated.
[0055]
(4) Safety that creates a single enable signal in the two-handed operation state in which a total of two operable switches are attached to both the right-handed operation position and the left-handed operation position of the housing as in the right-handed operation state or the left-handed operation state By providing the circuit in a state that can be selectively enabled by the switching means, the safety circuit is selectively enabled or disabled by the switching means between the two-handed operation state and the right-handed operation state or the left-handed operation state, and even in the two-handed operation state. A single enable signal can be output from the safety circuit in the same way as in the right-handed operation state or the left-handed operation state, and there is no need to change the configuration of the control circuit such as the taught device or the processing content according to the operation state of the operable switch Can be.
[Brief description of the drawings]
FIG. 1 is a front view of a pendant that is a handheld operating device according to an embodiment of the present invention.
FIG. 2 shows the present invention.ofIt is a rear view of the pendant which is a handheld operating device concerning an embodiment.
FIG. 3 is a diagram illustrating a connection state of an operable switch to a control board in the pendant.
FIG. 4 is an external view of an opened state showing an internal structure as viewed from the back side of a pendant which is a handheld operating device according to another embodiment of the present invention.
[Figure 5]Reference exampleIt is an external view of the supporting member used for the pendant which is a handheld operating device.
FIG. 6 is an assembly view of a support member used for the pendant.
[Explanation of symbols]
  1a, 1b-Operable switch
  2a, 2b, 3,6-support member
  4-safety circuit
  5-substrate
  10-Pendant (hand-held operating device)
  11-Display panel
  12-Operation keys (operation switches)
  13-Push button switch (operation switch)
  16-Control board
  16a, 16b, 51, 52-connector
  16c-switch (switching means)
  16d, 16e-LED (display means)

Claims (3)

In a hand-held operating device with an operable switch that outputs an enable signal during operation,
A single opening is formed in a range including a portion facing both hands holding the housing from the side surface on the back side of the housing,
For right hand operation which is removably mounted to the housing so as to cover the entire surface of the opening, through the support member of any single member for the left hand operation or two-handed operation, attaching the enable switch ,
The operable switch has a shape that is symmetrical in the vertical direction,
The support member for right hand operation and the support member for left hand operation have the same shape that is rotationally symmetric in the opening, and the operable switch is disposed at a position biased to one side in the left-right direction, and the opening Is attached to the right hand operation position or the left hand operation position of the housing in a state in which the right hand operation position and the left hand operation position are symmetrical in the left-right direction.
The support member for two-hand operation arranges the two operable switches in a symmetrical position in the left-right direction, and is attached to the opening so that the operable switch can be operated in the right-hand operation position and the left-hand operation of the housing. A hand-held operating device that is attached to both positions in a state of being symmetrical in the left-right direction at the right-hand operation position and the left-hand operation position. The hand-held operation device according to claim 1, wherein the support member for the two-hand operation includes a safety circuit that generates a single enable signal based on an operation state of two operable switches. A safety circuit that creates a single enable signal based on the operation state of two operable switches, and a switching means that receives a setting input for enabling or disabling the safety circuit are provided. The hand-held operation device according to claim 1.

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