JP5547457B2 - Motion input device - Google Patents

Description

  The present invention relates to a motion input device, and more particularly to a hand gripping device.

  As an operating device of a robot teaching device such as an industrial robot, a teach pendant, which is an operation terminal for inputting a program of an operation pattern necessary for the robot, is often used. The teach pendant has a large number of keys and buttons, and it is often held with one hand and input with the other hand.

  When a teach pendant having a large number of keys or the like is held for a long time with one hand, fatigue occurs. Therefore, it is necessary to change the hand to the other hand occasionally. When this change is made, the operation is interrupted, and there is a problem that it is impossible to deal with the situation immediately.

  As a method for solving this problem, proposals have been made to prohibit the operation until a certain state is reached (Patent Document 1 and Patent Document 2).

  However, there is a problem that operation efficiency deteriorates when the prohibited states overlap. On the other hand, it has become possible to reduce the size and weight of the teach pendant, which is an operating device, by combining it with computerization or another operating means. The smaller and lighter operation allows one-handed operation, which reduces the burden on the operator's handle and allows the other hand to perform other operations and prevent danger.

  In recent years, an enable switch is often arranged on the teaching pendant as a safety device for forcibly stopping the robot when the robot to be taught is abnormally operated.

Japanese Patent Laid-Open No. 2002-355781

JP 2002-83522 A

  In order to operate the controller of the robot teaching apparatus with one hand, it is necessary to be able to operate the controller while holding the controller stably.

  Also, with the conventional method of operating by pressing an operation button or tapping the operation icon on the touch panel, the finger may not reach depending on the size of the operator's hand, or it may be difficult to press too far. There is also a risk that the hand that is holding the camera forcibly will move and drop the operating device. Therefore, it is necessary that the operating device can be easily operated regardless of physical conditions such as the size of the hand.

  Furthermore, when an enable switch is used, it is necessary to perform the opening / closing operation of the enable switch and maintaining a predetermined state without difficulty.

  The present invention has been made to overcome these problems.

  The motion input device according to the present invention is a gripping unit gripped by a palm and a finger, and includes a gripping unit having an enable switch and an input sensor unit having an input surface, and controls an operation of a control target on the input surface. An input sensor unit for receiving control information for input, wherein the input sensor unit is disposed at a position where the control information can be input by a first finger on the input surface. It is characterized by this.

  Accordingly, the user can input control information to the input surface of the input sensor unit with the first finger while holding the motion input device with the palm and the finger. Therefore, efficient control information can be input in a situation where the enable switch is used. In addition, the first finger is located away from the other fingers and has a different orientation from the other fingers, so the control information is input to the control surface with the first finger, and the gripping part is gripped by the other finger. In addition, by using the palm and the palm, the control information can be most easily input and the grip portion can be gripped most stably.

  In the motion input device according to the present invention, the input sensor unit is configured to move the first finger from the reference position using a state in which the first finger is disposed on the input surface in a reference position setting state. An amount or a moving position is used as the control information.

  Thereby, regardless of the size of the user's hand, when the user grips the grip portion, the position where the first finger is naturally arranged can be set as the reference position. That is, control information can be easily and efficiently input regardless of the size of the user's hand. In addition, since the control information can be input to the input surface with the first finger without difficulty, the hand holding the gripping part does not rotate and the gripping of the gripping part is not loosened during the input. The grip portion can be gripped.

  The motion input device according to the present invention is further a display unit arranged to be overlapped with the input surface of the input sensor unit, and displays a display unit for assisting when the control information is input, Have Thereby, control information can be input efficiently.

  In the motion input device according to the present invention, the display unit displays the reference position directly or indirectly as the auxiliary information.

  As a result, it is possible to easily input control information centered on the reference position. Further, since the reference position can be confirmed, it is possible to easily determine whether or not it is necessary to change the reference position.

  The motion input device according to the present invention is characterized in that the reference position setting state is set when the enable switch is in a predetermined state. Thereby, the reference position can be set easily.

  In the motion input device according to the present invention, the grip portion further includes a concave portion in which a finger for gripping the grip portion is disposed. As a result, the grip portion can be easily gripped and a stable grip force can be applied.

  In the motion input device according to the present invention, the concave portion is characterized in that an entrance for inserting a finger is formed smaller than a back shape where the finger is arranged.

  Thereby, when operating the enable switch, it is possible to prevent a specific finger from floating due to fatigue or the like. Further, the enable switch can be continuously operated with a constant force, and efficient control information can be input.

The motion input device according to the present invention further includes an emergency stop button that immediately stops the operation to be controlled. As a result, the operation of the controlled object can be immediately stopped easily with one hand.

1 is a perspective view of a teaching device 1 that is an embodiment of a motion input device according to the present invention. It is a figure which shows the state which hold | gripped the teaching apparatus 1. FIG. It is a figure which shows the external appearance of the teaching apparatus 1, A is a top view, B is a left view, C is a front view, D is a bottom view. FIG. 3 is a diagram illustrating an outline of a configuration of an input unit 131. It is a figure which shows the state by which each arrow A1-A4 as control information displayed on the display control part 137 was displayed, A shows the case of a user with a small hand, B shows the case of a user with a big hand. Yes. It is a figure which shows the other Example of an operation input device. It is a figure which shows the other Example of an operation input device. It is a figure which shows the other Example of an operation input device. It is a figure which shows the other Example of an operation input device.

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

  A teaching device 1 for teaching a motion to a robot, which is an embodiment of the motion input device according to the present invention, will be described with reference to a perspective view shown in FIG. Information input using the teaching device 1 is input to a predetermined control device (not shown) via the connection line W. The control device performs a predetermined process and generates information for teaching the operation to the robot.

  The teaching device 1 has a grip part 11 and an operation part 13. When the user uses the teaching device 1, the user grips the grip portion 11 using the palm and the second to fifth fingers. The state which hold | gripped the teaching apparatus 1 using the palm and the 2nd finger-the 5th finger is shown in FIG.

  Returning to FIG. 1, the gripper 11 has an enable switch 111. The enable switch 111 is disposed such that the second to fifth fingers are positioned when the user grips the grip portion 11 (see FIG. 2).

  Here, the enable switch 111 will be briefly described. The enable switch is a manual operation device for enabling the robot to operate as long as it is held in a predetermined position (see JIS B 8433 (Industrial Manipulating Robot-Safety), Section 3.2.3). ). The enable switch 111 has a first position where the switch is not pushed in, a second position where the switch is pushed completely, and a third position where the switch is pushed by a predetermined amount. In the enable switch 111, the third position is a predetermined position. Hereinafter, in the enable switch 111, a state where the switch is in the first position is referred to as a first state, a state where the switch is in the second position is a second state, and a state where the switch is in the third position is a third state. By using the enable switch 111, teaching to the robot by the teaching device 1 is possible only when the user has a clear intention to operate. That is, teaching using the teaching device 1 is effective only in the third state, and teaching to the robot is possible. The enable switch is also called a deadman switch.

  Returning to FIG. 1, the operation unit 13 is disposed on the second finger side when the user grips the grip unit 11, following the grip unit 11. Here, a top view, a left side view, a front view, and a bottom view of the teaching device 1 are shown in FIGS. 3A, 3B, 3C, and 3D, respectively. As illustrated in FIGS. 3B to 3D, the operation unit 13 is disposed along a central axis C13 that is orthogonal to the central axis C11 of the gripping unit 1.

  Returning to FIG. 1, the operation unit 13 includes an input unit 131 and an emergency stop button 139. The input unit 131 is disposed on the surface P13 located on the opposite side of the operation unit 13 from the side on which the gripping unit 11 is disposed. As a result, as shown in FIG. 2, it is possible to operate the input unit 131 with the first finger while holding the holding unit 11 with the palm and the second to fifth fingers.

  The configuration of the input unit 131 will be described with reference to FIG. The input unit 131 includes a touch pad 133, a liquid crystal display 135, and a display control unit 137. The user inputs control information for controlling the operation of the robot to be the control target on the input surface P131 of the touch pad 133 by the operation of the first finger.

  Whether the touch pad 133 is a user with a small hand or a user with a large hand when using the teaching device 1, the input operation to the input surface P 131 can be easily performed. It has a predetermined size. By configuring the input surface P131 of the touch pad 133 in this way, it becomes possible to absorb differences among individuals such as the length of the user's finger.

  The liquid crystal display 135 is disposed so as to overlap the touch pad 133. On the liquid crystal display 135, input auxiliary information which is auxiliary when inputting to the input surface P131 by the first finger is displayed.

  The display control unit 137 is disposed below the liquid crystal display 135. The display control unit 137 is configured by a predetermined logic circuit or the like.

  As shown in FIG. 5A, the display control unit 137 displays an upward arrow A1, a right arrow A2, a downward arrow A3, and a left arrow A4 around the set reference position. The up arrow A1, the right arrow A2, the down arrow A3, and the left arrow A4 are input by the user when the robot to be controlled moves forward, moves right, moves backward, and moves left. It is displayed as auxiliary information for easy understanding.

  Note that the movement of the robot such as advancing is calculated based on the movement amount of the first finger from the reference position, which is control information. Calculation of the movement of the robot from the control information may be performed by arranging a computing means in the teaching device 1 or by a computing device separate from the teaching device 1.

  Here, the reference position means a position where the first finger is naturally arranged when the user grips the grip portion 11. Thus, by displaying the arrows A1 to A4 around the reference position, it is possible to indirectly display that the centers of the arrows A1 to A4 are the reference positions. Moreover, a user's input operation can be assisted by displaying each arrow A1-A4.

  The display control unit 137 changes the position where the arrows A1 to A4 are displayed according to the reference position. For example, in the case of a user with a small hand, the arrows A1 to A4 are displayed below the input surface P131 as shown in FIG. 5A, and for a user with a large hand, the input surface as shown in FIG. 5B. The arrows A1 to A4 are displayed on the upper left side of P131. As described above, by changing the display position of the auxiliary input information according to the reference position of the user, the user can easily perform an input operation.

  The reference position setting method will be described below. The user operates the enable switch 111 to set the reference position setting state in the second state (the state in which the switch is most depressed). In the reference position setting state, the user places the first finger on the input surface P131. The position of the input surface P131 where the first finger is arranged is set as the reference position.

  The setting of the reference position is not limited to one time. If the user determines that the reference position is not appropriate for use, the enable switch 111 may be operated again to set a new reference position. The operation of the enable switch 111 for newly entering the reference position setting state includes predetermined operations such as setting the enable switch 111 to the first state, the second state, and the first state to the second state. If it is determined, any operation may be performed.

  Returning to FIG. 1, the emergency stop button 139 is disposed on the surface P13. The emergency stop button 139 is a button for urgently stopping the operation of the robot when a person is in the vicinity of the teaching target robot or when the robot malfunctions.

The emergency stop button 139 is connected to a predetermined control device through a connection line different from the enable switch 111 and the touch pad 133. In this way, the connection between the emergency stop button 139 and the predetermined control device is made a separate system from the enable switch 111 and the touch pad 133, so that teaching becomes impossible when the enable switch 111 or the like malfunctions. In this case, teaching can be ended and the robot operation can be stopped urgently. Therefore, the safety of teaching using the teaching device 1 can be enhanced.

[Other Examples]
(1) Position of input surface P131: In the above-described first embodiment, the input surface P131 is a predetermined surface of the operation unit 13 disposed along the central axis C13 orthogonal to the central axis C11 of the gripping unit 11. Although it arrange | positions at P13, if the input surface P131 is arrange | positioned in the position which can input control information with a 1st finger | toe, it will not be limited to the thing of illustration. For example, as shown in FIG. 6, the input surface P131 may be disposed on the surface P13 of the operation unit 13 that is disposed by being rotated by a predetermined angle with respect to the central axis C11 of the gripping unit 11.

  Further, for example, as illustrated in FIG. 7, the input surface P131 may be disposed on the inclined surface P13 of the operation unit 13 that is disposed to be inclined with respect to the central axis C11 of the gripping unit 11.

  In this way, by providing the input surface P131 on the operation unit 13 rotated by a predetermined angle or the operation unit 13 disposed at an inclination, the first finger is disposed at a natural position when the grip unit 11 is gripped. It becomes possible.

  (2) Shape of input surface P131: In the above-described first embodiment, the input surface P131 is arranged on the planar surface P13, but the input surface P131 is at a position where control information can be input by the first finger. If it is arranged, it is not limited to the example. For example, as shown in FIG. 8, the input surface P131 may be arranged on the curved surface P13.

  (3) Display of auxiliary information: In the above-described first embodiment, the arrows A1 to A4 are displayed as auxiliary information. However, the auxiliary information is not limited to the example as long as the auxiliary information is displayed. For example, as shown in FIG. 9, predetermined operation items may be displayed. In this case, the movement position of the first finger from the reference position is input to the touch pad 133 as control information, and the operation item associated with the position is selected. Further, as shown in FIG. 9A, the operation items are displayed below the input surface P131, and in the case of a user with a large hand, the operation items are displayed on the upper left side of the input surface P131 as shown in FIG. 9B. .

  (4) Liquid crystal display 135: In the first embodiment, the liquid crystal display 135 is disposed. However, the liquid crystal display 135 may not be disposed.

  (5) Status switching of the enable switch 111: In the above-described first embodiment, the gripping part 11 is gripped by using the second to fifth fingers and the enable switch 111 is operated. As long as it can be gripped and the enable switch 111 can be reliably operated, it is not limited to the example. For example, the enable switch 111 may be operated using a specific finger such as only the second finger or the second finger and the third finger.

  Moreover, you may make it provide the recessed part for accommodating the specific finger | toe to operate an enable switch in the holding part 11. FIG. Thereby, it becomes easy to hold the holding part 11 and to keep the enable switch 111 in a specific state. The shape of the recess is preferably matched to the shape of the finger, but is not particularly limited.

  Furthermore, by making the shape of the concave portion provided in the gripping portion 11 narrower than the depth, the specific finger that opens and closes the enable switch when the inlet protrudes compared to the depth of the concave portion is fatigued. It can be prevented from floating. Therefore, the enable switch can be maintained in a predetermined state, and teaching work can be performed efficiently. It is also possible to prevent the teaching device 1 from falling. It should be noted that the shape of the entrance of the recess is such that the movement of the finger is not hindered when the user has an intention to set the enable switch to the first state (a state where the switch is not pushed in). The shape of the entrance of the recess is formed so as to prevent the lifting of the finger due to weakness and not affect the intentional movement of the finger.

  Further, although the enable switch 111 can switch between three states, it may be capable of switching between two states and four or more other states.

  (6) Emergency stop button 139: Although the teaching device 1 has the emergency stop button 139 in the first embodiment described above, the emergency stop button 139 may not be provided. In this case, for example, when the enable switch 111 is in a state other than the third state, the teaching using the teaching device 1 is invalidated, and the robot operation is immediately stopped. Can be secured.

(7) Independence of the emergency stop button 139: In the above-described first embodiment, the emergency stop button 139 is connected to a predetermined control device through a connection line different from the enable switch 111 and the touch pad 133. Alternatively, the connection may be made using the same system connection line.

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

DESCRIPTION OF SYMBOLS 1 ... Teaching device 11 ... Grasping part 111 ... Enable switch 13 ... Operation part P13 ... Surface 131 ... Input part P131 ... ... Input surface 133 ... Touchpad 135 ... Liquid crystal display 137 ... Display control unit 139 ... Emergency stop button

Claims (7)

A gripping part for gripping with a palm and a finger and having an enable switch;
An input sensor unit having an input surface, wherein the input sensor unit receives control information for controlling the operation of the control target on the input surface,
An operation input device comprising:
The input sensor unit is
It is arranged at a position where the control information can be input by the first finger on the input surface ,
The input sensor unit is
In a reference position setting state, a state where the first finger is arranged on the input surface is set as a reference position, and a movement amount or a movement position of the first finger from the reference position is set as the control information.
An operation input device characterized by the above. The motion input device according to claim 1 , further comprising:
A display unit arranged to overlap the input surface of the input sensor unit, the display unit displaying auxiliary information to assist in inputting the control information;
An operation input device having In the motion input device according to claim 2 ,
The display unit
Displaying the reference position directly or indirectly as the auxiliary information;
An operation input device characterized by the above. In any one of the motion input devices according to claims 1 to 3 ,
The reference position setting state when the enable switch is in a predetermined state;
An operation input device characterized by the above. In any one of the motion input devices according to claims 1 to 4 ,
The gripping part further includes
A recess in which a finger for gripping the grip portion is disposed;
Having
An operation input device characterized by the above. In the motion input device according to claim 5 ,
The recess is
The entrance for inserting the finger is formed smaller than the back shape where the finger is placed,
An operation input device characterized by the above. In any one of the motion input devices according to claims 1 to 6 ,
An emergency stop button that immediately stops the operation of the controlled object,
An operation input device having

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